Real-time nonlinear model predictive footstep optimization for biped robots

Robert Wittmann, Arne Christoph Hildebrandt, Daniel Wahrmann, Daniel Rixen, Thomas Buschmann

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

15 Scopus citations

Abstract

A well known strategy in biped locomotion to prevent falling in the presence of large disturbances is to modify next footstep positions of the robot. Solving this complex control problem for the overall model of the robot is a challenging task. Published methods employ either linear models or heuristics to determine those positions. This paper introduces a new optimization method using a nonlinear and more accurate model of the robot. The resulting optimization problem to calculate the necessary footstep modification is solved by a direct shooting method. Using a problem formulation in an unconstrained way enables an optimization that performs in real-time rates. Further we present our overall framework that uses sensor feedback in trajectory generation. Experimental results of our biped robot LOLA show the effectiveness of the method under real world conditions.

Original languageEnglish
Title of host publicationHumanoids 2015
Subtitle of host publicationHumanoids in the New Media Age - IEEE RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Pages711-717
Number of pages7
ISBN (Electronic)9781479968855
DOIs
StatePublished - 22 Dec 2015
Event15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015 - Seoul, Korea, Republic of
Duration: 3 Nov 20155 Nov 2015

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2015-December
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015
Country/TerritoryKorea, Republic of
CitySeoul
Period3/11/155/11/15

Keywords

  • Foot
  • Legged locomotion
  • Optimization
  • Predictive models
  • Robot sensing systems
  • Trajectory

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