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Chapitre D'ouvrage Année : 2014

Automatic Optimal Biped Walking as a Mixed-Integer Quadratic Program

Résumé

This paper deals with the dynamic control of humanoid robots interacting with their environment, and more specifically the behavioral synthesis for dynamic tasks. The particular problem that is considered here is the sequencing of elementary activities subjected to physical constraints, both internal as torque limits and external as contacts, within the framework of posture/tasks coordination. For that we propose to convert the set of tasks into weighted quadratic functions and to minimize their cost with a Linear Quadratic Program. The combination of elementary tasks leads to complex actions, and the continuous evolution of the weights ensures smooth transitions over time, as it is shown in the results.
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Dates et versions

hal-01030802 , version 1 (22-07-2014)

Identifiants

Citer

Aurélien Ibanez, Philippe Bidaud, Vincent Padois. Automatic Optimal Biped Walking as a Mixed-Integer Quadratic Program. Jadran Lenarčič, Oussama Khatib. Advances in Robot Kinematics, Springer International Publishing, pp.505--516, 2014, 978-3-319-06698-1. ⟨10.1007/978-3-319-06698-1_52⟩. ⟨hal-01030802⟩
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