"Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis"
by Yijie Guo, Mingwei Zhang, Hao Dong, Mingguo Zhao
May 21, 2021
Printable View
"Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis"
by Yijie Guo, Mingwei Zhang, Hao Dong, Mingguo Zhao
May 21, 2021
https://youtu.be/t6JIJyry91s
IROS 2021 supplementary video
Sep 8, 2021
Quote:
RA-L with IROS 2021
Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis
https://youtu.be/nDeHh7OmVz8
IROS 2021 Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis
Sep 8, 2021
Quote:
09:17 - Simulation Results
10:32 - Experimental Results
RA-L with IROS 2021
Fast Online Planning for Bipedal Locomotion via Centroidal Model Predictive Gait Synthesis
Abstract: The planning of whole-body motion and step time for bipedal locomotion is constructed as a model predictive control (MPC) problem, in which a sequence of optimization problems needs to be solved online. While directly solving these problems is extremely time-consuming, we propose a predictive gait synthesizer to offer immediate solutions. Based on the full-dimensional model, a library of gaits with different speeds and periods is first constructed offline. Then the proposed gait synthesizer generates real-time gaits at 1kHz by synthesizing the gait library based on the online prediction of centroidal dynamics. We prove that the constructed MPC problem can ensure the uniform ultimate boundedness (UUB) of the CoM states and show that our proposed gait synthesizer can provide feasible solutions to the MPC optimization problems. Simulation and experimental results on a bipedal robot with 8 degrees of freedom (DoF) are provided to show the performance and robustness of this approach.
https://youtu.be/H3hxbwU3hGw
2D Biped Mario demo
Sep 8, 2021
Quote:
Bipedal walking based on HZD (walk) and GHZD (step in place and transition)
We put the biped in a Mario scenario to show its robustness against external disturbances and environmental uncertainties.