We consider the problem of generating a gait with no a priori assigned footsteps while taking into account the contribution of the swinging leg to the total Zero Moment Point (ZMP). This is achieved by considering a multi-mass model of the humanoid and distinguishing between secondary masses with known pre-defined motion and the remaining, primary, masses. In the case of a single primary mass with constant height, it is possible to transform the original gait generation problem for the multi-mass system into a single LIP-like problem. We can then take full advantage of an intrinsically stable MPC framework to generate a gait that takes into account the swinging leg motion.

Gait generation via intrinsically stable MPC for a multi-mass humanoid model / Scianca, Nicola; Modugno, Valerio; Lanari, Leonardo; Oriolo, Giuseppe. - STAMPA. - (2017), pp. 547-552. ((Intervento presentato al convegno 17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017 tenutosi a Birmingham, UK [10.1109/HUMANOIDS.2017.8246926].

Gait generation via intrinsically stable MPC for a multi-mass humanoid model

Scianca, Nicola;Modugno, Valerio;Lanari, Leonardo;Oriolo, Giuseppe
2017

Abstract

We consider the problem of generating a gait with no a priori assigned footsteps while taking into account the contribution of the swinging leg to the total Zero Moment Point (ZMP). This is achieved by considering a multi-mass model of the humanoid and distinguishing between secondary masses with known pre-defined motion and the remaining, primary, masses. In the case of a single primary mass with constant height, it is possible to transform the original gait generation problem for the multi-mass system into a single LIP-like problem. We can then take full advantage of an intrinsically stable MPC framework to generate a gait that takes into account the swinging leg motion.
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978-1-5386-4679-3
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1115858
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