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Robust Foot Placement Control for Dynamic Walking using Online Parameter Estimation

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Documents

http://ieeexplore.ieee.org/document/8239552/
Original languageEnglish
Title of host publication 2017 IEEE-RAS International Conference on Humanoid Robots
Place of Publication978-1-5386-4679-3
PublisherIEEE
Pages165-170
Number of pages7
ISBN (Electronic)978-1-5386-4678-6
DOIs
StatePublished - 8 Jan 2018
EventIEEE-RAS International Conference on Humanoid Robots - Birmingham, United Kingdom

Conference

ConferenceIEEE-RAS International Conference on Humanoid Robots
CountryUnited Kingdom
CityBirmingham
Period15/11/1717/11/17
Internet address

Abstract

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.

Event

IEEE-RAS International Conference on Humanoid Robots

15/11/1717/11/17

Birmingham, United Kingdom

Event: Conference

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