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Dettaglio pubblicazione

2021, 2021 I-RIM Conference, Pages 129-130

MPC-based gait generation for humanoids: From walking to running (04b Atto di convegno in volume)

Smaldone Filippo M., Scianca Nicola, Lanari Leonardo, Oriolo Giuseppe

We present a Model Predictive Control (MPC) algorithm for 3D walking and running in humanoids. The scheme makes use of the Variable Height Inverted Pendulum (VH-IP) as prediction model, and generates a Center of Mass (CoM) trajectory and footstep positions online. The MPC works with the nonlinear dynamics by decomposing the problem into a vertical and a horizontal component. The vertical is solved first making the horizontal dynamics linear time-varying and therefore solvable in real-time. A stability constraint is incorporated to ensure internal stability. The algorithm is validated with dynamic simulations in DART.
ISBN: 9788894580525
Gruppo di ricerca: Robotics
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