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Communication Dans Un Congrès Année : 2017

Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum

Résumé

We present a real-time pattern generator for dynamic walking over rough terrains. Our method automatically finds step durations, a critical issue over rough terrains where they depend on terrain topology. To achieve this level of generality, we consider a Floating-base Inverted Pendulum (FIP) model where the center of mass can translate freely and the zero-tilting moment point is allowed to leave the contact surface. This model is equivalent to a linear inverted pendulum with variable center-of-mass height, but its equations of motion remain linear. Our solution then follows three steps: (i) we characterize the FIP contact-stability condition; (ii) we compute feedforward controls by solving a nonlinear optimization over receding-horizon FIP trajectories. Despite running at 30 Hz in a model-predictive fashion, simulations show that the latter is too slow to stabilize dynamic motions. To remedy this, we (iii) linearize FIP feedback control into a constrained linear-quadratic regulator that runs at 300 Hz. We finally demonstrate our solution in simulations with a model of the HRP-4 humanoid robot, including noise and delays over state estimation and foot force control.
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Dates et versions

hal-01481052 , version 1 (02-03-2017)
hal-01481052 , version 2 (22-07-2017)

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Citer

Stéphane Caron, Abderrahmane Kheddar. Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum. IROS: Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. pp.5017-5024, ⟨10.1109/IROS.2017.8206385⟩. ⟨hal-01481052v2⟩
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