Automatic Optimal Biped Walking as a Mixed-Integer Quadratic Program

Aurélien Ibanez 1 Philippe Bidaud 1 Vincent Padois 1
1 ISIR - Institut des Systèmes Intelligents et de Robotique
Abstract : This paper deals with the dynamic control of humanoid robots interacting with their environment, and more specifically the behavioral synthesis for dynamic tasks. The particular problem that is considered here is the sequencing of elementary activities subjected to physical constraints, both internal as torque limits and external as contacts, within the framework of posture/tasks coordination. For that we propose to convert the set of tasks into weighted quadratic functions and to minimize their cost with a Linear Quadratic Program. The combination of elementary tasks leads to complex actions, and the continuous evolution of the weights ensures smooth transitions over time, as it is shown in the results.
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Chapitre d'ouvrage
Jadran Lenarčič, Oussama Khatib. Advances in Robot Kinematics, Springer International Publishing, pp.505--516, 2014, 978-3-319-06698-1. 〈10.1007/978-3-319-06698-1_52〉
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Contributeur : Vincent Padois <>
Soumis le : mardi 22 juillet 2014 - 16:13:03
Dernière modification le : jeudi 22 novembre 2018 - 14:36:23
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Aurélien Ibanez, Philippe Bidaud, Vincent Padois. Automatic Optimal Biped Walking as a Mixed-Integer Quadratic Program. Jadran Lenarčič, Oussama Khatib. Advances in Robot Kinematics, Springer International Publishing, pp.505--516, 2014, 978-3-319-06698-1. 〈10.1007/978-3-319-06698-1_52〉. 〈hal-01030802〉

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