TY - GEN
T1 - A Model Predictive Control Based Robust Gait Generation with Turning Ability
AU - Yang, Pengfei
AU - Yuan, Zhaohui
AU - Dong, Sheng
AU - Li, Jingchao
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - To enhance the anti-disturbance ability of biped robots and improve their full range of motion ability, this paper proposes a gait generation method based on model predictive control with turning ability, which can automatically generate gait trajectories with the given reference speed and turning speed. We integrate footstep positions into the objective function and use the change of center of pressure (CoP) as the optimal input to minimize the objective. The contribution of this paper is considering various feasible optimization constraints to generate gait trajectories online with anti-disturbance ability, adjustable stride, and turning ability. Simulation results show that this method can generate robust gait trajectories online and turn in any direction.
AB - To enhance the anti-disturbance ability of biped robots and improve their full range of motion ability, this paper proposes a gait generation method based on model predictive control with turning ability, which can automatically generate gait trajectories with the given reference speed and turning speed. We integrate footstep positions into the objective function and use the change of center of pressure (CoP) as the optimal input to minimize the objective. The contribution of this paper is considering various feasible optimization constraints to generate gait trajectories online with anti-disturbance ability, adjustable stride, and turning ability. Simulation results show that this method can generate robust gait trajectories online and turn in any direction.
UR - http://www.scopus.com/inward/record.url?scp=85171544785&partnerID=8YFLogxK
U2 - 10.1109/ICARM58088.2023.10218773
DO - 10.1109/ICARM58088.2023.10218773
M3 - 会议稿件
AN - SCOPUS:85171544785
T3 - 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
SP - 600
EP - 605
BT - 2023 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 8th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2023
Y2 - 8 July 2023 through 10 July 2023
ER -