A. Herdt, H. Diedam, P-B. Wieber, D. Dimitrov, K. Mombaur, and M. Diehl
Online Walking Motion Generation with Automatic Foot Step Placement
Advanced Robotics Vol. 24 No. 5-6, pp. 719-737, April 2010.
Abstract:

The goal of this paper is to demonstrate the capacity of Model Predictive Control to generate stable walking motions without the use of predefined foot steps. Building up on well-known Model Predictive Control schemes for walking motion generation, we show that a minimal modification of these schemes allows designing an online walking motion generator which can track a given reference speed of the robot and decide automatically the foot step placement. Simulation results are proposed on the HRP-2 humanoid robot, showing a significant improvement over previous approaches.

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