Optimization-based locomotion planning, estimation, and control design for the atlas humanoid robot
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; ... Show more Show less
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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.
DepartmentMassachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory
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
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