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Pré-Publication, Document De Travail Année : 2024

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.
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Dates et versions

hal-04147602 , version 1 (30-06-2023)
hal-04147602 , version 2 (07-07-2023)
hal-04147602 , version 3 (29-02-2024)

Identifiants

  • HAL Id : hal-04147602 , version 3

Citer

Antonin Dallard, Mehdi Benallegue, Nicola Scianca, Fumio Kanehiro, Abderrahmane Kheddar. Robust Bipedal Walking with Closed-Loop MPC: Adios Stabilizers. 2024. ⟨hal-04147602v3⟩
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