2022/09/18 by Junheng Li, Quan Nguyen, Li, Junheng +1 · 1 citation
Engineering · #90C30 #93C85 #FOS: Computer and information sciences #FOS: Electrical engineering #Muscle activation and electromyography studies #Prosthetics and Rehabilitation Robotics #Robotic Locomotion and Control #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2209.08664
openalex publication_date 2022/09/18 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
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.