Automatic Optimal Biped Walking as a Mixed-Integer Quadratic Program

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.
Type de document :
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>
Liste complète des métadonnées


https://hal.archives-ouvertes.fr/hal-01030802
Contributeur : Vincent Padois <>
Soumis le : mardi 22 juillet 2014 - 16:13:03
Dernière modification le : lundi 21 mars 2016 - 17:37:34
Document(s) archivé(s) le : mardi 25 novembre 2014 - 11:10:26

Fichier

ibanez_ark14.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

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>

Partager

Métriques

Consultations de
la notice

288

Téléchargements du document

261