Online Foot Location Planning for Gait Transitioning Using Model Predictive Control

摘要

This paper proposes an online uniform foot location planning method (UPMPC) based on model predictive control (MPC) for solving the problem of large posture changes during gait transitioning. This method converts the foot location planning into a discrete-time MPC problem. The core part of the method is to complete the planning of the foot location based on the linear inverted pendulum (LIP) model and the simplified robot dynamics model. By unifying the input foot location at each time step, the solution time is shortened. The final simulation experiment compares the results of using the UPMPC and foot location planning method with heuristic function (HF) for gait transitioning, respectively. This result demonstrates that the UPMPC can complete the gait transitioning task and adapt to large changes in posture during gait transitioning. In addition, the results also show the good performance of UPMPC in fixed gait.