Most available schemes used for humanoid walk- ing rely on the separation into a planning phase, typically off- line, and a Model Predictive Controller (MPC). Moreover, in order for the MPC to work in real time, simplifying assumptions are made both on the template model and on the constraints so that the underlying optimization problem is a Quadratic Programming (QP). The planner is unaware of the underlying humanoid dynamics and of any disturbance acting on the robot. We present an on-line Feasibility-Aware Plan Adaptation (FAPA) module which can locally adapt footsteps (positions, timings and orientation) in such a way that it guarantees feasibility of the subsequent Intrinsically Stable MPC (IS-MPC) stage. We present two versions of the proposed scheme: one with a fixed regions assignment for placing the footstep and another one where the regions are selected automatically through mixed- integer programming. Simulation results show the effectiveness of the FAPA scheme.
Feasibility-Aware Plan Adaptation in Humanoid Gait Generation / Cipriano, Michele; Maximo, Marcos R. O. A.; Scianca, Nicola; Lanari, Leonardo; Oriolo, Giuseppe. - (2023), pp. 1-8. (Intervento presentato al convegno 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids) tenutosi a Austin; USA) [10.1109/Humanoids57100.2023.10375146].
Feasibility-Aware Plan Adaptation in Humanoid Gait Generation
Cipriano, Michele
;Scianca, Nicola
;Lanari, Leonardo
;Oriolo, Giuseppe
2023
Abstract
Most available schemes used for humanoid walk- ing rely on the separation into a planning phase, typically off- line, and a Model Predictive Controller (MPC). Moreover, in order for the MPC to work in real time, simplifying assumptions are made both on the template model and on the constraints so that the underlying optimization problem is a Quadratic Programming (QP). The planner is unaware of the underlying humanoid dynamics and of any disturbance acting on the robot. We present an on-line Feasibility-Aware Plan Adaptation (FAPA) module which can locally adapt footsteps (positions, timings and orientation) in such a way that it guarantees feasibility of the subsequent Intrinsically Stable MPC (IS-MPC) stage. We present two versions of the proposed scheme: one with a fixed regions assignment for placing the footstep and another one where the regions are selected automatically through mixed- integer programming. Simulation results show the effectiveness of the FAPA scheme.File | Dimensione | Formato | |
---|---|---|---|
Cipriano_Feasibility_2023.pdf
accesso aperto
Note: DOI 10.1109/Humanoids57100.2023.10375146
Tipologia:
Versione editoriale (versione pubblicata con il layout dell'editore)
Licenza:
Tutti i diritti riservati (All rights reserved)
Dimensione
2.13 MB
Formato
Adobe PDF
|
2.13 MB | Adobe PDF |
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.