ICRA 2011 Paper Abstract


Paper WeP103.2

Dimitrov, Dimitar Nikolaev (Oerebro University), Paolillo, Antonio (Università di Roma "Sapienza"), Wieber, Pierre-Brice (INRIA Rhône-Alpes)

Walking motion generation with online foot position adaptation based on $ell_1$- and $ell_{infty}$-norm penalty formulations

Scheduled for presentation during the Regular Sessions "Humanoid Robots III" (WeP103), Wednesday, May 11, 2011, 13:55−14:10, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Humanoid and Bipedal Locomotion, Humanoid Robots, Robust/Adaptive Control of Robotic Systems


The article presents an improved formulation of an existing model predictive control scheme used to generate online ``stable'' walking motions for a humanoid robot. We introduce: (i) a change of variable that simplifies the optimization problem to be solved; (ii) a simply bounded formulation in the case when the positions of the feet are predetermined; (iii) a formulation allowing foot repositioning (when the system is perturbed) based on $ell_1$- and $ell_{infty}$-norm minimization; (iv) a formulation that accounts for (approximate) double support constraints when foot repositioning occurs.



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