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

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 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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Conference papers
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Contributor : Stéphane Caron <>
Submitted on : Saturday, July 22, 2017 - 2:46:59 PM
Last modification on : Tuesday, February 12, 2019 - 12:28:03 PM


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  • HAL Id : hal-01481052, version 2
  • ARXIV : 1703.00688



Stéphane Caron, Abderrahmane Kheddar. Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2017, Vancouver, Canada. ⟨hal-01481052v2⟩



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