This paper presents a Model Predictive Control (MPC) scheme capable of generating a 3D gait for a humanoid robot. The proposed method starts from an assigned sequence of footsteps and generates online the trajectory of both the Zero Moment Point and Center of Mass. Starting from the moment balance (neglecting rotations) we derive a model characterizing all 3D trajectories that satisfy a linear differential equation along all three axes. Then a solution is found by extending our previously proposed intrinsically stable MPC, which employs a stability constraint for guaranteeing boundedness of the solution. The method is validated using a NAO robot in a simulated dynamic environment.

Humanoid Gait Generation on Uneven Ground using Intrinsically Stable MPC / Zamparelli, Alessio; Scianca, Nicola; Lanari, Leonardo; Oriolo, Giuseppe. - 51:22(2018), pp. 393-398. (Intervento presentato al convegno 12th IFAC Symposium on Robot Control SYROCO 2018 tenutosi a Budapest; Hungary) [10.1016/j.ifacol.2018.11.574].

Humanoid Gait Generation on Uneven Ground using Intrinsically Stable MPC

Scianca, Nicola
;
Lanari, Leonardo
;
Oriolo, Giuseppe
2018

Abstract

This paper presents a Model Predictive Control (MPC) scheme capable of generating a 3D gait for a humanoid robot. The proposed method starts from an assigned sequence of footsteps and generates online the trajectory of both the Zero Moment Point and Center of Mass. Starting from the moment balance (neglecting rotations) we derive a model characterizing all 3D trajectories that satisfy a linear differential equation along all three axes. Then a solution is found by extending our previously proposed intrinsically stable MPC, which employs a stability constraint for guaranteeing boundedness of the solution. The method is validated using a NAO robot in a simulated dynamic environment.
2018
12th IFAC Symposium on Robot Control SYROCO 2018
Humanoid; Optimization; Predictive Control; Real-time; Walking; Control and Systems Engineering
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Humanoid Gait Generation on Uneven Ground using Intrinsically Stable MPC / Zamparelli, Alessio; Scianca, Nicola; Lanari, Leonardo; Oriolo, Giuseppe. - 51:22(2018), pp. 393-398. (Intervento presentato al convegno 12th IFAC Symposium on Robot Control SYROCO 2018 tenutosi a Budapest; Hungary) [10.1016/j.ifacol.2018.11.574].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1225560
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