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Communication Dans Un Congrès Année : 2016

Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations

Résumé

We present a multi-contact walking pattern generator based on preview-control of the 3D acceleration of the center of mass (COM). A key point in the design of our algorithm is the calculation of contact-stability constraints. Thanks to a mathematical observation on the algebraic nature of the frictional wrench cone, we show that the 3D volume of feasible COM accelerations is a always a downward-pointing cone. We reduce its computation to a convex hull of (dual) 2D points, for which optimal O(n log n) algorithms are readily available. This reformulation brings a significant speedup compared to previous methods, which allows us to compute time-varying contact-stability criteria fast enough for the control loop. Next, we propose a conservative trajectory-wide contact-stability criterion, which can be derived from COM-acceleration volumes at marginal cost and directly applied in a model-predictive controller. We finally implement this pipeline and exemplify it with the HRP-4 humanoid model in multi-contact dynamically walking scenarios.
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Dates et versions

hal-01349880 , version 1 (29-07-2016)
hal-01349880 , version 2 (01-08-2016)
hal-01349880 , version 3 (09-08-2016)
hal-01349880 , version 4 (03-09-2016)
hal-01349880 , version 5 (20-10-2016)

Licence

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Identifiants

Citer

Stéphane Caron, Abderrahmane Kheddar. Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations. Humanoids, Nov 2016, Cancún, Mexico. pp.550-557, ⟨10.1109/HUMANOIDS.2016.7803329⟩. ⟨hal-01349880v5⟩
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