Adaptive step duration in biped walking: a robust approach to nonlinear constraints

Néstor Bohórquez 1 Pierre-Brice Wieber 1
1 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
Abstract : When a biped robot is walking in a crowd, being able to adapt the duration of steps is a key element to avoid collisions. Model Predictive Control (MPC) schemes for biped walking usually assume a fixed step duration since adapting it leads to a nonlinear problem, in general. Nonlinear solvers do not guarantee the satisfaction of nonlinear constraints at every iterate and this can be problematic for the real-time operation of robots. We propose a method to make sure that all iterates satisfy the nonlinear constraints by borrowing concepts from robust control: we make the problem robust to nonlinearities within some bounds. These bounds are linear with respect to the variables of the problem and can be adapted online.
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Communication dans un congrès
IEEE RAS International Conference on Humanoid Robots 2017, Nov 2017, Birmingham, United Kingdom. IEEE, pp.724-729, 2018, 〈10.1109/HUMANOIDS.2017.8246952〉
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Néstor Bohórquez, Pierre-Brice Wieber. Adaptive step duration in biped walking: a robust approach to nonlinear constraints. IEEE RAS International Conference on Humanoid Robots 2017, Nov 2017, Birmingham, United Kingdom. IEEE, pp.724-729, 2018, 〈10.1109/HUMANOIDS.2017.8246952〉. 〈hal-01649781〉

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