Terrain-Adaptive, ALIP-Based Bipedal Locomotion Controller via Model Predictive Control and Virtual Constraints
Grant Gibson,Oluwami Dosunmu-Ogunbi,Yukai Gong,Jessy Grizzle,Grant Gibson,Oluwami Dosunmu-Ogunbi,Yukai Gong,Jessy Grizzle
This paper presents a gait controller for bipedal robots to achieve highly agile walking over various terrains given local slope and friction cone information. Without these considerations, untimely impacts can cause a robot to trip and inadequate tangential reaction forces at the stance foot can cause slippages. We address these challenges by combining, in a novel manner, a model based on an Angu...
