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Communication Dans Un Congrès Année : 2014

Emergence of humanoid walking behaviors from mixed-integer model predictive control

Résumé

Balance strategies range from continuous postural adjustments to discrete changes in contacts: their simultaneous execution is required to maintain postural stability while considering the engaged walking activity. In order to compute optimal time, duration and position of footsteps along with the center of mass trajectory of a humanoid, a novel mixed-integer model of the system is presented. The introduction of this model in a predictive control problem brings the definition of a Mixed-Integer Quadratic Program, subject to linear constraints. Sim-ulation results demonstrate the simultaneous adaptation of the gait pattern and posture of the humanoid, in a walking activity under large disturbances, to efficiently compromise between task performance and balance. In addition, a push recovery scenario displays how, using a single balance-performance ratio, distinct behaviors of the humanoid can be specified.
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Dates et versions

hal-01116331 , version 1 (13-02-2015)

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Aurelien Ibanez, Philippe Bidaud, Vincent Padois. Emergence of humanoid walking behaviors from mixed-integer model predictive control. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2014, Hong-Kong, China. pp.4014 - 4021, ⟨10.1109/IROS.2014.6943127⟩. ⟨hal-01116331⟩
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