Mixed-Integer Programming for Automatic Walking Step Duration

Autor(es)

Maximo, Marcos R. O. A. ; Ribeiro, Carlos H. C. ; Afonso, Rubens J. M. ; IEEE

• Tipo de documento: Artigo Científico
• Fonte: 2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016); v. N/A, p. 6-pg., 2016-01-01.

Resumo

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 and steps durations while respecting actuation, geometry, and contact constraints. Simulation results show that this MIQP scheme is able to keep balance while a fixed step duration controller fails in situations where the robot faces very strong disturbances. (AU)

• Processo FAPESP: 16/03647-3 - Desenvolvimento e Implementação de Algoritmos de Caminhada para Robôs Humanoides
• Beneficiário: Rubens Junqueira Magalhães Afonso
• Modalidade de apoio: Auxílio à Pesquisa - Regular