Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
Name
Tedrake_EMB until May 1 2016 Optimization-Based Locomotion.pdf
Size
30.21 MB
Format
Adobe PDF
Checksum (MD5)
f7f36ad97cebc044f5b214adb1e5e07a
Author(s)
Koolen, Twan
Marion, Pat
Kuindersma, Scott
Deits, Robin Lloyd Henderson
Fallon, Maurice
Valenzuela, Andres Klee
Dai, Hongkai
Permenter, Frank Noble
Tedrake, Russell L
Date Issued
July 2015
Journal
Autonomous Robots
Publisher
Springer-Verlag
Citation
Kuindersma, Scott; Deits, Robin; Fallon, Maurice; Valenzuela, Andrés; Dai, Hongkai; Permenter, Frank; Koolen, Twan; Marion, Pat and Tedrake, Russ. "Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot." Autonomous Robots 40, 3 (March 2016): 429-455 © 2015 Springer Science+Business Media New York
Version
Author's final manuscript
Abstract
This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to operate reliably in complex environments. To make challenging locomotion tasks tractable, we describe several novel applications of convex, mixed-integer, and sparse nonlinear optimization to problems ranging from footstep placement to whole-body planning and control. We also present a state estimator formulation that, when combined with our walking controller, permits highly precise execution of extended walking plans over non-flat terrain. We describe our complete system integration and experiments carried out on Atlas, a full-size hydraulic humanoid robot built by Boston Dynamics, Inc.
MIT Department
Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.1007/s10514-015-9479-3
