When to make a step? Tackling the timing problem in multi-contact locomotion by TOPP-MPC
Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier (LIRMM), CNRS–University of Montpellier（蒙彼利埃计算机科学、机器人技术与微电子实验室（LIRMM），法国国家科学研究中心–蒙彼利埃大学）；School of Mechanical and Aerospace Engineering, Nanyang Technological University（南洋理工大学机械与航空航天工程学院）
英文摘要：
We present a model predictive controller (MPC) for multi-contact locomotion where predictive optimizations are realized by time-optimal path parameterization (TOPP). A key feature of this solution is that, contrary to existing planners where step timings are provided as inputs, here the timing between contact switches is computed as output of a fast nonlinear optimization. This is particularly appealing to multi-contact locomotion, where proper timings depend on terrain topology and suitable heuristics are unknown. We show how to formulate legged locomotion as a TOPP problem and demonstrate the behavior of the resulting TOPP-MPC controller in simulations with a model of the HRP-4 humanoid robot.
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