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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Bibliographic Details

Published in:	Optimal control applications & methods Vol. 41; no. 6; pp. 1928 - 1963
Main Authors:	Maximo, Marcos R. O. A., Afonso, Rubens J. M.
Format:	Journal Article
Language:	English
Published:	Glasgow Wiley Subscription Services, Inc 01.11.2020
Subjects:	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
Online Access:	Get full text
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