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    Intrinsically stable MPC for humanoid gait generation

    Scianca, Nicola and Cognetti, Marco and Simone, Daniele De and Lanari, Leonardo and Oriolo, Giuseppe (2016) Intrinsically stable MPC for humanoid gait generation. 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids). pp. 601-606. ISSN 2164-0580

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    We present a novel MPC method for humanoid gait generation that is guaranteed to produce stable CoM trajectories. This is obtained by using a dynamic extension of the LIP as motion model, with the ZMP velocity as a control variable, and embedding an explicit stability constraint in the formulation. Such constraint turns out to be linear in the control variables, leading to a standard QP problem with equality and inequality constraints. The intrinsically stable MPC framework is developed into a full-fledged gait generation scheme by including automatic footstep placement. Simulations show that the proposed method is very effective and performs robustly in the presence of changes in the prediction horizon.

    Item Type: Article
    Keywords: Intrinsically; stable; MPC; humanoid; gait generation;
    Academic Unit: Faculty of Science and Engineering > Electronic Engineering
    Faculty of Science and Engineering > Research Institutes > Hamilton Institute
    Item ID: 15336
    Identification Number:
    Depositing User: Marco Cognetti
    Date Deposited: 24 Jan 2022 17:10
    Journal or Publication Title: 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)
    Publisher: IEEE
    Refereed: Yes
      Use Licence: This item is available under a Creative Commons Attribution Non Commercial Share Alike Licence (CC BY-NC-SA). Details of this licence are available here

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