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Online Walking Motion Generation with Automatic Footstep Placement

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The goal of this paper is to demonstrate the capacity of model predictive control (MPC) to generate stable walking motions without the use of predefined footsteps. Building up on well-known MPC schemes for walking motion generation, we show that a minimal modification of these schemes allows designing an online walking motion generator that can track a given reference speed of the robot and decide automatically the footstep placement. Simulation results are proposed on the HRP-2 humanoid robot, showing a significant improvement over previous approaches.
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Keywords: LINEAR MODEL PREDICTIVE CONTROL; WALKING HUMANOID ROBOT

Document Type: Research Article

Affiliations: 1: INRIA & CNRS/AIST JRL, AIST Tsukuba Central 2, 1-1-1 Umezono, Tsukuba 305-8568, Japan 2: University of Heidelberg, Im Neuenheimer Feld 368, 69120 Heidelberg, Germany 3: INRIA & CNRS/AIST JRL, AIST Tsukuba Central 2, 1-1-1 Umezono, Tsukuba 305-8568, Japan;, Email: Pierre-Brice.Wieber@inria.fr 4: Katholieke Universiteit Leuven, Kasteelpark Arenberg 10, 3001 Leuven-Heverlee, Belgium

Publication date: 2010-04-01

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