LMPC based online generation of more efficient walking motions

Andrei Herdt (1) , Nicolas Perrin (2) , Pierre-Brice Wieber (3)

1 DLR Institute of Robotics and Mechatronics
2 IIT - Department of Advanced Robotics
3 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems

This paper proposes solutions to the relative lack of efficiency of walking trajectories generated online. Extensions of a previously introduced Linear Model Predictive Control law are proposed that allow to improve the walking performance through variation of the height of the CoM and toe flexion. Extensive simulations serve to demonstrate the capacity of the improved scheme to generate significantly more efficient walking motions.

Domains: Automatic

Andrei Herdt, Nicolas Perrin, Pierre-Brice Wieber. LMPC based online generation of more efficient walking motions. IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nov 2012, Osaka, Japan. pp.390-395, ⟨10.1109/HUMANOIDS.2012.6651549⟩. ⟨hal-02487630⟩