When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC
We present a model predictive controller (MPC) for multi-contact locomotion where predictive optimizations are realized by time-optimal path parameterization (TOPP). A key feature of this solution is that, contrary to existing planners where step timings are provided as inputs, here the timing betwe...
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| Published in | 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids) pp. 522 - 528 |
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| Main Authors | , |
| Format | Conference Proceeding |
| Language | English |
| Published |
IEEE
01.11.2017
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| Subjects | |
| Online Access | Get full text |
| ISSN | 2164-0580 |
| DOI | 10.1109/HUMANOIDS.2017.8246922 |
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| Abstract | We present a model predictive controller (MPC) for multi-contact locomotion where predictive optimizations are realized by time-optimal path parameterization (TOPP). A key feature of this solution is that, contrary to existing planners where step timings are provided as inputs, here the timing between contact switches is computed as output of a fast nonlinear optimization. This is appealing to multi-contact locomotion, where proper timings depend on terrain topology and suitable heuristics are unknown. We show how to formulate legged locomotion as a TOPP problem and demonstrate the behavior of the resulting TOPP-MPC controller in simulations with a model of the HRP-4 humanoid robot. |
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| AbstractList | We present a model predictive controller (MPC) for multi-contact locomotion where predictive optimizations are realized by time-optimal path parameterization (TOPP). A key feature of this solution is that, contrary to existing planners where step timings are provided as inputs, here the timing between contact switches is computed as output of a fast nonlinear optimization. This is appealing to multi-contact locomotion, where proper timings depend on terrain topology and suitable heuristics are unknown. We show how to formulate legged locomotion as a TOPP problem and demonstrate the behavior of the resulting TOPP-MPC controller in simulations with a model of the HRP-4 humanoid robot. |
| Author | Quang-Cuong Pham Caron, Stephane |
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| Snippet | We present a model predictive controller (MPC) for multi-contact locomotion where predictive optimizations are realized by time-optimal path parameterization... |
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| SubjectTerms | Acceleration Legged locomotion Optimization Robot kinematics Timing Trajectory |
| Title | When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC |
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