Mixed‐integer quadratic programming for automatic walking footstep placement, duration, and rotation

Summary This paper presents a mixed‐integer model predictive controller for walking. In the proposed scheme, mixed‐integer quadratic programs (MIQP) are solved online to simultaneously decide center of mass jerks, footsteps positions, durations, and rotations while respecting actuation, geometry, an...

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Vydáno v:Optimal control applications & methods Ročník 41; číslo 6; s. 1928 - 1963
Hlavní autoři: Maximo, Marcos R. O. A., Afonso, Rubens J. M.
Médium: Journal Article
Jazyk:angličtina
Vydáno: Glasgow Wiley Subscription Services, Inc 01.11.2020
Témata:
Actuation
Feet
humanoid robot walking
hybrid dynamics
Integers
mixed‐integer programming
model predictive control
Optimization
Predictive control
Quadratic programming
Rotation
Walking
ISSN:0143-2087, 1099-1514
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Shrnutí:Summary This paper presents a mixed‐integer model predictive controller for walking. In the proposed scheme, mixed‐integer quadratic programs (MIQP) are solved online to simultaneously decide center of mass jerks, footsteps positions, durations, and rotations while respecting actuation, geometry, and contact constraints. Most walking controllers require preplanned footstep rotations to avoid dealing with the nonlinearity introduced by foot rotation decision. The main contribution of this work is an optimization formulation where feet rotations are automatically planned to attain a reference speed rotation. Finally, simulation results are shown to present and discuss the capabilities of the proposed formulation.
Bibliografie:Funding information
Coordenação de Aperfeiçoamento de Pessoal de Nível Superior, 88881.145490/2017‐01; Federal Ministry for Education and Research of Germany, Fundação de Amparo à Pesquisa do Estado de São Paulo, 2016/03647‐3
ObjectType-Article-1
SourceType-Scholarly Journals-1
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ISSN:0143-2087
1099-1514
DOI:10.1002/oca.2601