Online Walking Motion Generation with Automatic Footstep Placement

  title={Online Walking Motion Generation with Automatic Footstep Placement},
  author={Andrei Herdt and Holger Diedam and Pierre-Brice Wieber and Dimitar Dimitrov and Katja D. Mombaur and Moritz Diehl},
  journal={Advanced Robotics},
The goal of this paper is to demonstrate the capacity of Model Predictive Control to generate stable walking motions without the use of predefined foot steps. Building up on well-known Model Predictive Control schemes for walking motion generation, we show that a minimal modification of these schemes allows designing an online walking motion generator which can track a given reference speed of the robot and decide automatically the foot step placement. Simulation results are proposed on the HRP… CONTINUE READING
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