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ON LINE OPTIMAL CONTROL FOR BIPED ROBOTS
Christine Azevedo* Philippe Poignet** Bernard Espiau*
* INRIA Rhône-Alpes Zirst, 655 avenue de l’Europe Montbonnot
38334 Saint Ismier Cedex, France
christine.azevedo@inrialpes.fr
** LIRMM 161, rue Ada 34392 Montpellier Cedex 05, France
poignet@lirmm.fr
This paper deals with the control of walking biped robots. An on line optimal control approach based on moving horizon strategy is developped. The problem is stated as an optimization one, subject to physical coherent constraints issued from human behaviour observation. The strategy is tested with a model of the BIP biped robot designed by INRIA.
Keywords: biped robot, optimal control, moving horizon, walking gait
Session slot T-Fr-M19: Control of Robotic Systems/Area code 1d : Robotics
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