Online regeneration of bipedal walking gait pattern optimizing footstep placement and timing

@article{Kryczka2015OnlineRO,
  title={Online regeneration of bipedal walking gait pattern optimizing footstep placement and timing},
  author={Przemyslaw Kryczka and Petar Kormushev and Nikolaos G. Tsagarakis and Darwin G. Caldwell},
  journal={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2015},
  pages={3352-3357}
}
We propose a new algorithm capable of online regeneration of gait patterns. The algorithm uses a nonlinear optimization technique to find step parameters that will bring the robot from the present state to a desired state. It modifies online not only the footstep positions, but also the step timing in order to maintain dynamic stability during walking. Inclusion of step time modification extends the robustness against rarely addressed disturbances, such as pushes towards the stance foot. The… CONTINUE READING
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