We consider the problem of generating a gait with no a priori assigned footsteps while taking into account the contribution of the swinging leg to the total Zero Moment Point (ZMP). This is achieved by considering a multi-mass model of the humanoid and distinguishing between secondary masses with known pre-defined motion and the remaining, primary, masses. In the case of a single primary mass with constant height, it is possible to transform the original gait generation problem for the multi-mass system into a single LIP-like problem. We can then take full advantage of an intrinsically stable MPC framework to generate a gait that takes into account the swinging leg motion.
2017, 2017 IEEE-RAS 17th international conference on humanoid robotics (Humanoids 2017): Birmingham, United Kingdom 15 – 17 November 2017, Pages 547-552
Gait generation via intrinsically stable MPC for a multi-mass humanoid model (04b Atto di convegno in volume)
Scianca Nicola, Modugno Valerio, Lanari Leonardo, Oriolo Giuseppe
ISBN: 9781538646786; 978-1-5386-4679-3
Gruppo di ricerca: Robotics