混合整数编程自动步行步长

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Pub Date : 2016-10-01 DOI:10.1109/IROS.2016.7759794

M. Maximo, Carlos H. C. Ribeiro, R. J. Afonso

{"title":"混合整数编程自动步行步长","authors":"M. Maximo, Carlos H. C. Ribeiro, R. J. Afonso","doi":"10.1109/IROS.2016.7759794","DOIUrl":null,"url":null,"abstract":"This paper presents a mixed-integer model predictive controller for walking. In the proposed scheme, mixed-integer quadratic programs (MIQP) are solved online to simultaneously decide center of mass jerks, footsteps positions and steps durations while respecting actuation, geometry, and contact constraints. Simulation results show that this MIQP scheme is able to keep balance while a fixed step duration controller fails in situations where the robot faces very strong disturbances.","PeriodicalId":296337,"journal":{"name":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","volume":"223 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2016-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"20","resultStr":"{\"title\":\"Mixed-integer programming for automatic walking step duration\",\"authors\":\"M. Maximo, Carlos H. C. Ribeiro, R. J. Afonso\",\"doi\":\"10.1109/IROS.2016.7759794\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This paper presents a mixed-integer model predictive controller for walking. In the proposed scheme, mixed-integer quadratic programs (MIQP) are solved online to simultaneously decide center of mass jerks, footsteps positions and steps durations while respecting actuation, geometry, and contact constraints. Simulation results show that this MIQP scheme is able to keep balance while a fixed step duration controller fails in situations where the robot faces very strong disturbances.\",\"PeriodicalId\":296337,\"journal\":{\"name\":\"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)\",\"volume\":\"223 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-10-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"20\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IROS.2016.7759794\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.2016.7759794","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 20

摘要

提出了一种用于步行的混合整数模型预测控制器。在该方案中，在线求解混合整数二次规划(MIQP)，在考虑驱动、几何和接触约束的情况下，同时确定质心位移、脚步位置和步长。仿真结果表明，在机器人面临很强干扰的情况下，当固定步长控制器失效时，该MIQP方案能够保持平衡。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Mixed-integer programming for automatic walking step duration

This paper presents a mixed-integer model predictive controller for walking. In the proposed scheme, mixed-integer quadratic programs (MIQP) are solved online to simultaneously decide center of mass jerks, footsteps positions and steps durations while respecting actuation, geometry, and contact constraints. Simulation results show that this MIQP scheme is able to keep balance while a fixed step duration controller fails in situations where the robot faces very strong disturbances.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

自引率

0.00%

发文量