This paper presents a novel Adaptive-frequency MPC framework for bipedal locomotion over terrain with uneven stepping stones. In detail, we intend to achieve adaptive foot placement and gait period for bipedal periodic walking gait with this MPC, in order to traverse terrain with discontinuities without slowing down. We pair this adaptive-frequency MPC with a kino-dynamics trajectory optimization for optimal gait periods, center of mass (CoM) trajectory, and foot placements. We use whole-body control (WBC) along with adaptive-frequency MPC to track the optimal trajectories from the offline optimization. In numerical validations, our adaptive-frequency MPC framework with optimization has shown advantages over fixed-frequency MPC. The proposed framework can control the bipedal robot to traverse through uneven stepping stone terrains with perturbed stone heights, widths, and surface shapes while maintaining an average speed of 1.5 m/s.
翻译:本文介绍了一个新的适应频率 MPC 框架, 用于使用不均匀的踏脚石在地形上双向移动。 详细说来, 我们打算实现适应性足足姿和步步间隔期, 与这个 MPC 相比, 以不连续的方式穿越地形。 我们把这个适应性频率 MPC 和 运动动力轨道优化配对, 以优化的步态周期、 质量中心轨迹和脚姿。 我们使用全身控制( WBC ) 和适应性频率 MPC 来跟踪离线优化的最佳轨迹。 在数字验证中, 我们的适应性频率 MPC 框架的优化比固定频率 MPC 具有优势。 拟议的框架可以控制双向机器人, 通过不均匀的脚步态地形, 绕动石高、 宽度和表面形状。 同时保持平均速度为 1.5 m/ 。