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(Reference retrieved automatically from Web of Science through information on FAPESP grant and its corresponding number as mentioned in the publication by the authors.)

Real-time walking step timing adaptation by restricting duration decision for the first footstep

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Maximo, Marcos R. O. A. [1] ; Ribeiro, Carlos H. C. [1] ; Afonso, Rubens J. M. [2, 3]
Total Authors: 3
[1] Aeronaut Inst Technol, Div Comp Sci, Autonomous Computat Syst Lab LAB SCA, Sao Paulo - Brazil
[2] Aeronaut Inst Technol, Elect Engn Div, Sao Paulo - Brazil
[3] Tech Univ Munich, Dept Aerosp & Geodesy, Inst Flight Syst Dynam, Bayern - Germany
Total Affiliations: 3
Document type: Journal article
Source: ADVANCED ROBOTICS; v. 34, n. 21-22, SI, p. 1420-1441, NOV 16 2020.
Web of Science Citations: 0

This paper presents two model predictive control formulations for automatically deciding walking step duration for humanoid robots. In the proposed schemes, constrained optimization problems are solved online to simultaneously decide center of mass jerks, foothold positions, and step timing while respecting actuation, geometry, and contact constraints. The main contribution of this work is showing that restricting the duration decision to the first footstep is an effective strategy to achieve real-time computational time. Simulated and real robot experiments were undertaken to present and discuss the capabilities of the proposed formulations. (AU)

FAPESP's process: 16/03647-3 - Development and Implementation of Walking Algorithms for Humanoid Robots
Grantee:Rubens Junqueira Magalhães Afonso
Support Opportunities: Regular Research Grants
FAPESP's process: 17/02055-8 - A parameterized model for supporting self-organization in multi-robot networks
Grantee:Carlos Henrique Costa Ribeiro
Support Opportunities: Regular Research Grants