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• W2477962321 abstract "We present a multi-contact walking pattern generator based on preview-control of the 3D acceleration of the center of mass (COM). A key point in the design of our algorithm is the calculation of contact-stability constraints. Thanks to a mathematical observation on the algebraic nature of the frictional wrench cone, we show that the 3D volume of feasible COM accelerations is always an upward-pointing cone. We reduce its computation to a convex hull of (dual) 2D points, for which optimal C(n log n) algorithms are readily available. This reformulation brings a significant speedup compared to previous methods, which allows us to compute time-varying contact-stability criteria fast enough for the control loop. Next, we propose a conservative trajectory-wide contact-stability criterion, which can be derived from COM-acceleration volumes at marginal cost and directly applied in a model-predictive controller. We finally implement this pipeline and exemplify it with the HRP-4 humanoid model in multi-contact dynamically walking scenarios." @default.
• W2477962321 created "2016-08-23" @default.
• W2477962321 creator A5032139227 @default.
• W2477962321 creator A5067136188 @default.
• W2477962321 date "2016-11-01" @default.
• W2477962321 modified "2023-10-06" @default.
• W2477962321 title "Multi-contact walking pattern generation based on model preview control of 3D COM accelerations" @default.
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• W2477962321 doi "https://doi.org/10.1109/humanoids.2016.7803329" @default.
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