The planning of whole-body motion and step time for bipedal locomotion is constructed as a model predictive control (MPC) problem, in which a sequence of optimization problems need to be solved online. While directly solving these problems is extremely time-consuming, we propose a predictive gait synthesizer to solve them quickly online . Based on the full dimensional model, a library of gaits with different speeds and periods is first constructed offline. Then the proposed gait synthesizer generates real-time gaits  by synthesizing the gait library based on the online prediction of centroidal dynamics. We prove that the generated gaits are feasible solutions of the MPC optimization problems. Thus our proposed gait synthesizer works as a fast MPC-style planner to guarantee the feasibility and stability of the full dimensional robot . Simulation and experimental results on an 8 degrees of freedom (DoF) bipedal robot are provided to show the performance and robustness of this approach for walking and standing .
The planning of whole-body motion and step time for bipedal locomotion is constructed as a model predictive control (MPC) problem, in which a sequence of optimization problems needs to be solved online. While directly solving these problems is extremely time-consuming, we propose a predictive gait synthesizer to offer immediate solutions . Based on the full-dimensional model, a library of gaits with different speeds and periods is first constructed offline. Then the proposed gait synthesizer generates real-time gaits at 1kHz by synthesizing the gait library based on the online prediction of centroidal dynamics. We prove that the constructed MPC problem can ensure the uniform ultimate boundedness (UUB) of the CoM states and show that our proposed gait synthesizer can provide feasible solutions to the MPC optimization problems . Simulation and experimental results on a bipedal robot with 8 degrees of freedom (DoF) are provided to show the performance and robustness of this approach .
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need
needs
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solve them quickly online
offer immediate solutions
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full dimensional
full-dimensional
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at 1kHz
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generated gaits are feasible solutions of the MPC optimization problems. Thus
constructed MPC problem can ensure the uniform ultimate boundedness (UUB) of the CoM states and show that
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works as a fast MPC-style planner to guarantee the feasibility and stability of the full dimensional robot
can provide feasible solutions to the MPC optimization problems
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an
a bipedal robot with
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bipedal robot
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for walking and standing