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When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC

Stéphane Caron 1, * Quang-Cuong Pham 2
* Corresponding author
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : We present a model predictive controller (MPC) for multi-contact locomotion where predictive optimizations are realized by time-optimal path parameterization (TOPP). A key feature of this solution is that, contrary to existing planners where step timings are provided as inputs, here the timing between contact switches is computed as output of a fast nonlinear optimization. This is appealing to multi-contact locomotion, where proper timings depend on terrain topology and suitable heuristics are unknown. We show how to formulate legged locomotion as a TOPP problem and demonstrate the behavior of the resulting TOPP-MPC controller in simulations with a model of the HRP-4 humanoid robot.
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Submitted on : Wednesday, October 11, 2017 - 1:38:18 AM
Last modification on : Wednesday, May 22, 2019 - 12:44:23 PM
Document(s) archivé(s) le : Friday, January 12, 2018 - 12:50:48 PM


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Stéphane Caron, Quang-Cuong Pham. When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC. Humanoids, Nov 2017, Birmingham, United Kingdom. pp.522-528, ⟨10.1109/HUMANOIDS.2017.8246922⟩. ⟨hal-01363757v3⟩



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