Balance control using both ZMP and COM height variations: A convex boundedness approach

Stéphane Caron (1) , Bastien Mallein (2)

1 IDH - Interactive Digital Humans
2 LAGA - Laboratoire Analyse, Géométrie et Applications

Developments for 3D control of the center of mass (CoM) are currently located in two local minima: on the one hand, methods that allow CoM height variations but only work in the 2D sagittal plane; on the other hand, nonconvex centroidal models that are delicate to handle. This paper presents an alternative that controls the CoM in 3D by predictive control over a convex optimization problem. The key to this development is the notion of boundedness condition, which quantifies convexly the viability of CoM trajectories.

Mots clés: Model predictive control; Convex optimization; Humanoid and bipedal locomotion

Domaines: Robotique [cs.RO]

Stéphane Caron, Bastien Mallein. Balance control using both ZMP and COM height variations: A convex boundedness approach. 2017. ⟨hal-01590509v1⟩