Model-based predictive bipedal walking stabilization

Robert Wittmann, Arne-Christoph Hildebrandt, Daniel Wahrmann, Felix Sygulla, Daniel Rixen, Thomas Buschmann
2016 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids)  
A well known strategy in bipedal locomotion to prevent falling in the presence of large disturbances is to modify drastically future motion. This is an important capability of a walking control system in order to bring humanoid robots from controlled laboratory conditions to real environment situations. This paper presents a predictive stabilization method which modifies planned center of mass and foot trajectories depending on the current state of the robot. It uses a nonlinear prediction
more » ... ear prediction model [1] and applies a conjugate gradient method to solve the resulting optimization problem in real-time. Furthermore, the method is integrated in the walking control system of our bipedal robot LOLA. Simulation results demonstrate the effectiveness and the advantages of the proposed method.
doi:10.1109/humanoids.2016.7803353 dblp:conf/humanoids/WittmannHWSRB16 fatcat:dn3obe7t5ncjrdg3f55f4l7jd4