Whole-body MPC and sensitivity analysis of a real time foot step sequencer for a biped robot Bolt
Fuente:
arXiv
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| Auteurs principaux: | , , |
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| Format: | Preprint |
| Publié: |
2024
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| _version_ | 1866915044707532800 |
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| author | Roux, Constant Perrot, Côme Stasse, Olivier |
| author_facet | Roux, Constant Perrot, Côme Stasse, Olivier |
| contents | This paper presents a novel controller for the bipedal robot Bolt. Our approach leverages a whole-body model predictive controller in conjunction with a footstep sequencer to achieve robust locomotion. Simulation results demonstrate effective velocity tracking as well as push and slippage recovery abilities. In addition to that, we provide a theoretical sensitivity analysis of the footstep sequencing problem to enhance the understanding of the results. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_01713 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Whole-body MPC and sensitivity analysis of a real time foot step sequencer for a biped robot Bolt Roux, Constant Perrot, Côme Stasse, Olivier Robotics This paper presents a novel controller for the bipedal robot Bolt. Our approach leverages a whole-body model predictive controller in conjunction with a footstep sequencer to achieve robust locomotion. Simulation results demonstrate effective velocity tracking as well as push and slippage recovery abilities. In addition to that, we provide a theoretical sensitivity analysis of the footstep sequencing problem to enhance the understanding of the results. |
| title | Whole-body MPC and sensitivity analysis of a real time foot step sequencer for a biped robot Bolt |
| topic | Robotics |
| url | https://arxiv.org/abs/2412.01713 |