Effective Generation of Dynamically Balanced Locomotion with Multiple Non-coplanar Contacts

Abstract : Studies of computationally and analytically convenient approximations of rigid body dynamics have brought valuable insight into the field of humanoid robotics. Additionally, they facilitate the design of effective walking pattern generators. Going further than the classical Zero Moment Point-based methods, this paper presents two simple and novel approaches to solve for 3D locomotion with multiple non-coplanar contacts. Both formulations use model predictive control to generate dynamically balanced trajectories with no restrictions on the center of mass height trajectory. The first formulation treats the balance criterion as an objective function, and solves the control problem using a sequence of alternating convex quadratic programs. The second formulation considers the criterion as constraints, and solves a succession of convex quadratically constrained quadratic programs.
Type de document :
Communication dans un congrès
International Symposium on Robotics Research, Sep 2015, Sestri Levante, Italy. 2015
Liste complète des métadonnées

https://hal-auf.archives-ouvertes.fr/hal-01388632
Contributeur : Vincent Padois <>
Soumis le : jeudi 27 octobre 2016 - 12:20:05
Dernière modification le : jeudi 22 novembre 2018 - 14:36:24

Fichier

ISRR_15_non_coplanar_contacts....
Fichiers produits par l'(les) auteur(s)

Identifiants

  • HAL Id : hal-01388632, version 1

Collections

Citation

Nicolas Perrin, Darwin Lau, Vincent Padois. Effective Generation of Dynamically Balanced Locomotion with Multiple Non-coplanar Contacts. International Symposium on Robotics Research, Sep 2015, Sestri Levante, Italy. 2015. 〈hal-01388632〉

Partager

Métriques

Consultations de la notice

201

Téléchargements de fichiers

157