Humanoid Gait Generation on Uneven Ground using Intrinsically Stable MPC

Zamparelli, Alessio; Scianca, Nicola; Lanari, Leonardo; Oriolo, Giuseppe

doi:10.1016/j.ifacol.2018.11.574

Cited by 25 publications

(19 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The choice of the constant λ is naturally guided by equations (6) and (7). We have observed that this choice is not so strict in our approach, although extreme values can exponential polynomial N = 7 3.3 2.6 N = 5 3.5 3.1 N = 4 3.1 3.1 N = 2 4.9 6.4 N = 1 3.6 9.8 lead to an infeasible set of constraints.…”

Section: Numerical Resultsmentioning

confidence: 99%

“…The concept of boundedness has been proposed to provide a more general balance guarantee than capturability [7], not imposing that the robot has to be able to stop. But being able to stop is a key requirement of Passive Safety, and as a result, capturability appears to be more suitable to guarantee the safe navigation of legged robots in dynamic environments.…”

Section: Introductionmentioning

confidence: 99%

“…Grenoble Alpes, Inria, 38000 Grenoble, France. adrien.pajon@gmail.com conservative approximations of these nonlinearities [7], [10], [11] We adopt here the linear Model Predictive Control (MPC) scheme developed in [12], for its many desirable features. It provides automatic step placement, which is necessary to generate fully reactive walking motions as in [1] and [2].…”

Section: Introductionmentioning

confidence: 99%

“…It is formulated as a linear problem which can be solved very efficiently with off-the-shelf solvers, by bounding nonlinearities conservatively (making sure to maintain kinematic and dynamic feasibility) in a very effective way: the CoM and Center of Pressure (CoP) trajectories obtained with this approach have been observed to be only a few millimeters away from the true optimum [13]. Comparable schemes typically consider predefined vertical motion [14] or predefined step placement [15] and don't provide complete kinematic and dynamic feasibility guarantees [7], which are all significant limitations.…”

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Safe 3D Bipedal Walking through Linear MPC with 3D Capturability

Pajon

Wiebe

2019

2019 International Conference on Robotics and Automation (ICRA)

View full text Add to dashboard Cite

We propose a linear MPC scheme for online computation of reactive walking motions, necessary for fast interactions such as physical collaboration with humans or collision avoidance in crowds. Unlike other existing schemes, it provides fully adaptable height, adaptable step placement and complete kinematic and dynamic feasibility guarantees, making it possible to walk perfectly safely on a piecewise horizontal ground such as stairs. A linear formulation is proposed, based on efficiently bounding the nonlinear term introduced by vertical motion, considering two linear constraints instead of one nonlinear constraint. Balance and Passive Safety guarantees are secured by enforcing a 3D capturability constraint. Based on a comparison between CoM and CoP trajectories involving exponentials instead of polynomials, this capturability constraint involves a CoM motion stopping along a segment of line, always maintaining complete kinematic and dynamic feasibility.

show abstract

Section: Numerical Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%