Model predictive control for dynamic footstep adjustment using the divergent component of motion

@article{Griffin2016ModelPC,
  title={Model predictive control for dynamic footstep adjustment using the divergent component of motion},
  author={Robert J. Griffin and Alexander Leonessa},
  journal={2016 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2016},
  pages={1763-1768}
}
This paper presents an extension of previous model predictive control (MPC) schemes to the stabilization of the time-varying divergent component of motion (DCM). To address the control authority limitations caused by fixed footholds, the step positions and rotations are treated as control inputs, allowing the generation and execution of stable walking motions, both at high speeds and in the face of disturbances. Rotation approximations are handled by applying a mixed-integer program, which… CONTINUE READING

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