Name
Abstract | ||
|---|---|---|
We consider a situation in which a humanoid robot must reach a goal region (walk-to task) walking in an environment consisting of horizontal patches located at different heights (world of stairs). To solve this problem, the paper proposes an integrated motion planner/controller working in two stages: off-line footstep planning and on-line gait generation. The planning stage is based on a randomized algorithm that efficiently searches for a feasible footstep sequence. The gait generation uses an intrinsically stable MPC-based control scheme which computes CoM trajectories that are suitable for walking on uneven ground. The proposed framework was implemented in the V-REP environment for the HRP4 humanoid robot and successfully tested via simulations. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.23919/ECC.2019.8796196 | 2019 18TH EUROPEAN CONTROL CONFERENCE (ECC) |
Field | DocType | Citations |
Computer vision,Randomized algorithm,Control theory,Gait,Computer science,Planner,Artificial intelligence,Humanoid robot,Stairs | Conference | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Paolo Ferrari | 1 | 392 | 59.01 |
| Nicola Scianca | 2 | 12 | 4.75 |
| Leonardo Lanari | 3 | 43 | 11.31 |
| Giuseppe Oriolo | 4 | 1270 | 100.12 |