We consider the problem of gait generation for a humanoid robot that must walk to an assigned Cartesian goal. As a first solution, we consider a rather straightforward adaptation of our previous work: An external block produces high-level velocities, which are then tracked by a double-stage intrinsically stable MPC scheme where the orientation of the footsteps is chosen before determining their location and the CoM trajectory. The second solution, which represents the main contribution of the paper, is conceptually different: no high-level velocity is generated, and footstep orientations are chosen at the same time of the other decision variables in a singlestage MPC. This is made possible by carefully redesigning the motion constraints so as to preserve linearity. Preliminary results on a simulated NAO confirm that the single-stage method outperforms the conventional double-stage scheme.

Humanoid gait generation for walk-to locomotion using single-stage MPC / Aboudonia, Ahmed Osama Hamed; Scianca, Nicola; De Simone, Daniele; Lanari, Leonardo; Oriolo, Giuseppe. - STAMPA. - (2017), pp. 178-183. (Intervento presentato al convegno 17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017 tenutosi a Birmingham; United Kingdom) [10.1109/HUMANOIDS.2017.8239554].

Humanoid gait generation for walk-to locomotion using single-stage MPC

ABOUDONIA, Ahmed Osama Hamed;Scianca, Nicola;De Simone, Daniele;Lanari, Leonardo
;
Oriolo, Giuseppe
2017

Abstract

We consider the problem of gait generation for a humanoid robot that must walk to an assigned Cartesian goal. As a first solution, we consider a rather straightforward adaptation of our previous work: An external block produces high-level velocities, which are then tracked by a double-stage intrinsically stable MPC scheme where the orientation of the footsteps is chosen before determining their location and the CoM trajectory. The second solution, which represents the main contribution of the paper, is conceptually different: no high-level velocity is generated, and footstep orientations are chosen at the same time of the other decision variables in a singlestage MPC. This is made possible by carefully redesigning the motion constraints so as to preserve linearity. Preliminary results on a simulated NAO confirm that the single-stage method outperforms the conventional double-stage scheme.
2017
17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017
Robotics; Humanoid Robots; Model Predictive Control
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Humanoid gait generation for walk-to locomotion using single-stage MPC / Aboudonia, Ahmed Osama Hamed; Scianca, Nicola; De Simone, Daniele; Lanari, Leonardo; Oriolo, Giuseppe. - STAMPA. - (2017), pp. 178-183. (Intervento presentato al convegno 17th IEEE-RAS International Conference on Humanoid Robotics, Humanoids 2017 tenutosi a Birmingham; United Kingdom) [10.1109/HUMANOIDS.2017.8239554].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1115934
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