A method of controlling motion on the ground of a device having at least two legs comprising: obtaining current values of dynamic state variables of the device; optimizing a movement command for the device under constraints while taking account of said current values and of a movement setpoint for the device, said optimization being performed by modeling a movement of the device between a current state and a second state, the device being supported during said movement by at least on a first leg, and then from an instant in which the center of pressure on the ground is changed, at least on a second leg; and applying said movement command; wherein said optimization is performed on the assumption that the gravity potential energy of the device in the second state is a local maximum as a function of time.
PROCÉDÉ DE CONTRÔLE D'UN ROBOT POSSÉDANT AU MOINS DEUX JAMBES
METHODE FOR CONTROLLING A ROBOT WITH AT LEAST TWO LEGS
VERFAHREN ZUR STEUERUNG EINES ROBOTERS MIT MINDESTENS ZWEI BEINEN
2016-12-28
Patent
Electronic Resource
French
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