Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot

@article{Kuindersma2016OptimizationbasedLP,
  title={Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot},
  author={Scott Kuindersma and Robin Deits and Maurice F. Fallon and Andres Valenzuela and Hongkai Dai and Frank Permenter and Twan Koolen and Pat Marion and Russ Tedrake},
  journal={Auton. Robots},
  year={2016},
  volume={40},
  pages={429-455}
}
This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to operate reliably in complex environments. To make challenging locomotion tasks tractable, we describe several novel applications of convex, mixed-integer, and sparse nonlinear optimization to problems ranging from footstep placement to whole-body planning and control. We also present a state estimator formulation that, when combined with our… CONTINUE READING
Highly Cited
This paper has 377 citations. REVIEW CITATIONS
Recent Discussions
This paper has been referenced on Twitter 1 time over the past 90 days. VIEW TWEETS
127 Extracted Citations
64 Extracted References
Similar Papers

Citing Papers

Publications influenced by this paper.
Showing 1-10 of 127 extracted citations

377 Citations

01002002015201620172018
Citations per Year
Semantic Scholar estimates that this publication has 377 citations based on the available data.

See our FAQ for additional information.

Referenced Papers

Publications referenced by this paper.
Showing 1-10 of 64 references

Active set vs. interior point strategies for model predictive control

  • R. A. Bartlett, A. Wächter, L. T. Biegler
  • Proceedings of the American Control Conference…
  • 2000
Highly Influential
3 Excerpts

Similar Papers

Loading similar papers…