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

Autor(es)

Maximo, Marcos R. O. A. ; Afonso, Rubens J. M.

• Tipo de documento: Artigo Científico
• Fonte: OPTIMAL CONTROL APPLICATIONS & METHODS; v. 41, n. 6, p. 36-pg., 2020-06-22.

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, 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. (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