We present a novel MPC method for humanoid gait generation that is guaranteed to produce stable CoM trajectories. This is obtained by using a dynamic extension of the LIP as motion model, with the ZMP velocity as a control variable, and embedding an explicit stability constraint in the formulation. Such constraint turns out to be linear in the control variables, leading to a standard QP problem with equality and inequality constraints. The intrinsically stable MPC framework is developed into a full-fledged gait generation scheme by including automatic footstep placement. Simulations show that the proposed method is very effective and performs robustly in the presence of changes in the prediction horizon. © 2016 IEEE.
2016, 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), Pages 601-606
Intrinsically Stable MPC for Humanoid Gait Generation (04b Atto di convegno in volume)
Scianca Nicola, Cognetti Marco, De Simone Daniele, Lanari Leonardo, Oriolo Giuseppe
Gruppo di ricerca: Robotics