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

Stéphane Caron 1, * Abderrahmane Kheddar 1, 2
* Corresponding author
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : 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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Contributor : Stéphane Caron <>
Submitted on : Thursday, October 20, 2016 - 10:15:26 PM
Last modification on : Tuesday, February 12, 2019 - 12:28:03 PM


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  • HAL Id : hal-01349880, version 5
  • ARXIV : 1607.08729



Stéphane Caron, Abderrahmane Kheddar. Multi-contact Walking Pattern Generation based on Model Preview Control of 3D COM Accelerations. IEEE-RAS International Conference on Humanoid Robots, Nov 2016, Cancún, Mexico. ⟨hal-01349880v5⟩



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