哈尔滨工业大学学报（英文版）2010，Vol.17Issue(4)：445-450,6.
Online gait programming of humanoid walking via NMPC
Online gait programming of humanoid walking via NMPC
摘要
Abstract
In order to satisfy the requirement of realtime gait programming of humanoid walking with foot rotation,a kind of modified Nonlinear Model Predictive Control(NMPC)scheme was proposed.Based on setting suitable kinetic and kinematic virtual constraints of Single Support Phase(SSP)and three subphases of Double Support Phase(DSP),complex realtime gait programming problem was simplified to four online NMPC dynamic optimization problems.A numerical approach was proposed to transform the dynamical optimization problem to the finite dimensional static optimization problem which can be solved by Sequential Quadratic Programming(SQP).It can be concluded from simulation that using this method on BIP model can realize online gait programming of dynamic walking with foot rotation and the biped stability can be satisfied such that there is no sliding during walking.关键词
biped robot/NMPC/gait programmingKey words
biped robot/NMPC/gait programming分类
信息技术与安全科学引用本文复制引用
ZHU Zhi-bin,WANG Yan,CHEN Xing-lin..Online gait programming of humanoid walking via NMPC[J].哈尔滨工业大学学报（英文版）,2010,17(4):445-450,6.基金项目
Sponsored by the National High Technology Research and Development Program of China(863 Program)(Grant No.2006AA04Z201). （863 Program）
