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Stabilization of the Capture Point Dynamics for Bipedal Walking based on Model Predictive Control
Abstract : Considering a reduced center-of-mass model for bipedal walking, by utilizing the Capture Point as a system coordinate one can separate the stable and unstable components of the dynamics. In this paper, previous works on the stabilization of the Capture Point dynamics are extended by employing model predictive control (MPC). This allows to explicitly incorporate constraints on the zero-moment-point (ZMP) in the controller design. The proposed Capture-Point-MPC is evaluated in simulation and experiments with the DLR-Biped.
Cited literature [20 references]
https://hal.inria.fr/hal-02487644
Contributor : Pierre-Brice Wieber Connect in order to contact the contributor
Submitted on : Friday, February 21, 2020 - 5:40:50 PM
Last modification on : Thursday, January 20, 2022 - 5:30:22 PM
Long-term archiving on: : Friday, May 22, 2020 - 5:21:59 PM
Contributor : Pierre-Brice Wieber Connect in order to contact the contributor
Submitted on : Friday, February 21, 2020 - 5:40:50 PM
Last modification on : Thursday, January 20, 2022 - 5:30:22 PM
Long-term archiving on: : Friday, May 22, 2020 - 5:21:59 PM
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Krause2012Syroco.pdf
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