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Robust Foot Placement Control for Dynamic Walking using Online Parameter Estimation

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Original languageEnglish
Title of host publication 2017 IEEE-RAS International Conference on Humanoid Robots
Place of Publication978-1-5386-4679-3
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages7
ISBN (Electronic)978-1-5386-4678-6
Publication statusPublished - 8 Jan 2018
EventIEEE-RAS International Conference on Humanoid Robots - The Birmingham Repertory Theatre, Centenary Square, Broad Street, Birmingham, United Kingdom
Duration: 15 Nov 201717 Nov 2017


ConferenceIEEE-RAS International Conference on Humanoid Robots
CountryUnited Kingdom
Internet address


This paper presents an estimation scheme to control foot placement for achieving desired velocity of dynamic walking in presence of sensor and model errors. Inevitable discrepancies, such as sensors noises/delays and modeling errors, degrade the performance of model-based controls or even cause instabilities. To resolve these issues, an online parameter estimation approach is formulated using Tikhonov optimization based on measurements, which is particularly robust for approximating more accurate dynamics. The proposed scheme initially uses the foot placement predicted by the linear inverted pendulum model, while the control parameters are being optimized from adequate measurements that represent the real dynamics within and in-between steps; and then, the estimation based control is fully used to accurately predict the future foot placement in the presence of discrepancies.


IEEE-RAS International Conference on Humanoid Robots


Birmingham, United Kingdom

Event: Conference

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