When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC

Stéphane Caron, Quang-Cuong Pham. To be presented at the 2017 IEEE-RAS International Conference on Humanoid Robots (Humanoids), Birmingham, United Kingdom, November 2017.

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.

Video

BibTeX

@inproceedings{caron2017humanoids,
  title = {When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC},
  author = {Caron, St{\'e}phane and Pham, Quang-Cuong},
  booktitle = {Humanoid Robots, 2017 IEEE-RAS International Conference on},
  year = {2017},
  month = {November},
  note = {to be presented at},
  url = {https://hal.archives-ouvertes.fr/hal-01363757}
}
Content on this website is under the CC-BY 4.0 license.