A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control
|Title||A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control|
|Publication Type||Journal Article|
|Year of Publication||2016|
|Authors||Naveau, M, Kudruss, M, Stasse, O, Kirches, C, Mombaur, K, Soueres, P|
|Journal||IEEE Robotics and Automation Letters|
|Keywords||selected, Walking pattern generator|
The contribution of this work is to show that real- time nonlinear model predictive control (NMPC) can be implemented on position controlled humanoid robots. Following the idea of “walking without thinking”, we propose a walking pattern generator that takes into account simultaneously the position and orientation of the feet. A requirement for an application in real-world scenarios is the avoidance of obstacles. Therefore the paper shows an extension of the pattern generator that directly considers the avoidance of convex obstacles. The algorithm uses the whole-body dynamics to correct the center of mass trajectory of the underlying simplified model. The pattern generator runs in real-time on the embedded hardware of the humanoid robot HRP-2 and experiments demonstrate the increase in performance with the correction.