Quadrupedal walking motion and footstep placement through Linear Model Predictive Control

The present work addresses the generation of a walking gait with automatic footstep placement for a quadrupedal robot, within a Linear Model Predictive Control framework. Existing work has shown how this is only possible within a non-convex programming framework, finding a solution of which is well-...

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Bibliographic Details
Published in:2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp. 2267 - 2273
Main Authors: Laurenzi, Arturo, Hoffman, Enrico Mingo, Tsagarakis, Nikos G.
Format: Conference Proceeding
Language:English
Published: IEEE 01.10.2018
Subjects:
Legged locomotion
Optimization
Planning
Robot kinematics
Stability analysis
ISSN:2153-0866
Online Access:Get full text
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