The feasibility region of a Model Predictive Control (MPC) algorithm is the subset of the state space in which the constrained optimization problem to be solved is feasible. In our recent Intrinsically Stable MPC (IS-MPC) method for humanoid gait generation, feasibility means being able to satisfy the dynamic balance condition, the kinematic constraints on footsteps as well as an explicit stability condition. Here, we exploit the feasibility concept to build a step timing adapter that, at each control cycle, modifies the duration of the current step whenever a feasibility loss is imminent due, e.g., to an external perturbation. The proposed approach allows the IS-MPC algorithm to maintain its linearity and adds a negligible computational burden to the overall scheme. Simulations and experimental results where the robot is pushed while walking showcase the performance of the proposed approach.


    Access

    Download


    Export, share and cite



    Title :

    Feasibility-Driven Step Timing Adaptation for Robust MPC-Based Gait Generation in Humanoids



    Publication date :

    2021-01-01



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629



    Humans and Humanoids

    R. O. Ambrose | NTIS | 2012


    Humans and Humanoids

    Ambrose, Robert O. | NTRS | 2012



    Humanoids Designed to do Work

    R. Ambrose / S. Askew / W. Bluethmann et al. | NTIS | 2001


    Grounding Emotion Appraisal in Autonomous Humanoids

    Kiryazov, Kiril | BASE | 2014

    Free access