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Open AccessArticle

Bio-Inspired Optimal Control Framework to Generate Walking Motions for the Humanoid Robot iCub Using Whole Body Models

by Yue Hu 1,2,* and Katja Mombaur 1,2
1
Optimization, Robotics & Biomechanics, Institute of Computer Engineering (ZITI), Heidelberg University, Berliner Str. 45, 69120 Heidelberg, Germany
2
Interdisciplinary Center for Scientific Computing (IWR), Heidelberg University, INF205, 69120 Heidelberg, Germany
*
Author to whom correspondence should be addressed.
Appl. Sci. 2018, 8(2), 278; https://doi.org/10.3390/app8020278
Received: 16 November 2017 / Revised: 19 January 2018 / Accepted: 6 February 2018 / Published: 12 February 2018
(This article belongs to the Special Issue Bio-Inspired Robotics)
Bipedal locomotion remains one of the major open challenges of humanoid robotics. The common approaches are based on simple reduced model dynamics to generate walking trajectories, often neglecting the whole-body dynamics of the robots. As motions in nature are often considered as optimal with respect to certain criteria, in this work, we present an optimal control-based approach that allows us to generate optimized walking motions using a precise whole-body dynamic model of the robot, in contrast with the common approaches. The optimal control problem is formulated to minimize a set of desired objective functions with respect to physical constraints of the robot and contact constraints of the walking phases; the problem is then solved with a direct multiple shooting method. We apply the formulation with combinations of different objective criteria to the model of a reduced version of the iCub humanoid robot of 15 internal DOF. The obtained trajectories are executed on the real robot, and we carry out a discussion on the differences between the outcomes of this approach with the classic approaches. View Full-Text
Keywords: humanoid robot; bipedal locomotion; optimal control; optimization humanoid robot; bipedal locomotion; optimal control; optimization
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Hu, Y.; Mombaur, K. Bio-Inspired Optimal Control Framework to Generate Walking Motions for the Humanoid Robot iCub Using Whole Body Models. Appl. Sci. 2018, 8, 278.

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