We consider a situation in which a humanoid robot must reach a goal region (walk-to task) walking in an environment consisting of horizontal patches located at different heights (world of stairs). To solve this problem, the paper proposes an integrated motion planner/controller working in two stages: off-line footstep planning and on-line gait generation. The planning stage is based on a randomized algorithm that efficiently searches for a feasible footstep sequence. The gait generation uses an intrinsically stable MPC-based control scheme which computes CoM trajectories that are suitable for walking on uneven ground. The proposed framework was implemented in the V-REP environment for the HRP4 humanoid robot and successfully tested via simulations.
An integrated motion planner/controller for humanoid robots on uneven ground / Ferrari, P.; Scianca, N.; Lanari, L.; Oriolo, G.. - (2019), pp. 1598-1603. (Intervento presentato al convegno 18th European Control Conference, ECC 2019 tenutosi a Naples; Italy) [10.23919/ECC.2019.8796196].
An integrated motion planner/controller for humanoid robots on uneven ground
Ferrari P.;Scianca N.;Lanari L.;Oriolo G.
2019
Abstract
We consider a situation in which a humanoid robot must reach a goal region (walk-to task) walking in an environment consisting of horizontal patches located at different heights (world of stairs). To solve this problem, the paper proposes an integrated motion planner/controller working in two stages: off-line footstep planning and on-line gait generation. The planning stage is based on a randomized algorithm that efficiently searches for a feasible footstep sequence. The gait generation uses an intrinsically stable MPC-based control scheme which computes CoM trajectories that are suitable for walking on uneven ground. The proposed framework was implemented in the V-REP environment for the HRP4 humanoid robot and successfully tested via simulations.File | Dimensione | Formato | |
---|---|---|---|
Ferrari_An-Integrated-Motion_2019.pdf
solo gestori archivio
Tipologia:
Versione editoriale (versione pubblicata con il layout dell'editore)
Licenza:
Tutti i diritti riservati (All rights reserved)
Dimensione
3.76 MB
Formato
Adobe PDF
|
3.76 MB | Adobe PDF | Contatta l'autore |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.