Robust Bipedal Walking with Closed-Loop MPC: Adios Stabilizers
Résumé
We present a new walking control scheme based on
the dynamics of the inverted pendulum. Our scheme includes re-
planning the step locations and step timings, feet force control,
and a walking pattern generation that is closed-loop thanks to
feedback in the state of the real humanoid robot pendulum
(CoM position/speed and ZMP). No additional control policy
is used to maintain the static and dynamic balance of the
humanoid. We experimented this framework on five different
humanoid robots over multiple disturbances including sudden
pushes during walking or in a static state and by achieving
locomotion over uneven and compliant grounds.
Domaines
Automatique / RobotiqueOrigine | Fichiers produits par l'(les) auteur(s) |
---|