Closed loop control of walking motions with adaptive choice of directions for the iCub humanoid robot

@article{Stein2017ClosedLC,
  title={Closed loop control of walking motions with adaptive choice of directions for the iCub humanoid robot},
  author={Kevin Stein and Yue Hu and Manuel Kudruss and Maximilien Naveau and Katja D. Mombaur},
  journal={2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids)},
  year={2017},
  pages={184-190}
}
The widely spread iCub humanoid robot has proved to be able to walk straight forward by means of an offline pattern generator, which did not allow for online adjustments and interactions. In this paper, we present a closed-loop control framework based on a Nonlinear Model Predictive Control pattern generator with feedback at the Center of Mass (CoM) position. This framework allows us to extend the walking capabilities of iCub to different walking directions, such as curved, sideways and… CONTINUE READING

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Key Quantitative Results

  • The online feedback was shown to improve the walking stability by means of an improvement of the CoM tracking precision by 30% and the ZMP tracking precision by 60% compared to the same method without CoM position feedback control.

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