English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

We present a real-time pattern generator for dynamic walking over roughterrains. Our method automatically finds step durations, a critical issue overrough terrains where they depend on terrain topology. To achieve this level ofgenerality, we consider a Floating-base Inverted Pendulum (FIP) model where thecenter of mass can translate freely and the zero-tilting moment point isallowed to leave the contact surface. This model is equivalent to a linearinverted pendulum with variable center-of-mass height, but its equations ofmotion remain linear. Our solution then follows three steps: (i) wecharacterize the FIP contact-stability condition; (ii) we compute feedforwardcontrols by solving a nonlinear optimization over receding-horizon FIPtrajectories. Despite running at 30 Hz in a model-predictive fashion,simulations show that the latter is too slow to stabilize dynamic motions. Toremedy this, we (iii) linearize FIP feedback control into a constrainedlinear-quadratic regulator that runs at 300 Hz. We finally demonstrate oursolution in simulations with a model of the HRP-4 humanoid robot, includingnoise and delays over state estimation and foot force control.

Dynamic Walking over Rough Terrains by Nonlinear Predictive Control of the Floating-base Inverted Pendulum