作者
Majid Khadiv, Alexander Herzog, S Ali A Moosavian, Ludovic Righetti
发表日期
2020/4/29
期刊
IEEE Transactions on Robotics
卷号
36
期号
3
页码范围
629-643
出版商
IEEE
简介
Step adjustment can improve the gait robustness of biped robots; however, the adaptation of step timing is often neglected as it gives rise to nonconvex problems when optimized over several footsteps. In this article, we argue that it is not necessary to optimize walking over several steps to ensure gait viability and show that it is sufficient to merely select the next step timing and location. Using this insight, we propose a novel walking pattern generator that optimally selects step location and timing at every control cycle. Our approach is computationally simple compared to standard approaches in the literature, yet guarantees that any viable state will remain viable in the future. We propose a swing foot adaptation strategy and integrate the pattern generator with an inverse dynamics controller that does not explicitly control the center of mass nor the foot center of pressure. This is particularly useful for biped robots with …
学术搜索中的文章
M Khadiv, A Herzog, SAA Moosavian, L Righetti - IEEE Transactions on Robotics, 2020