Running Gait Generation for Humanoid Robots

March 2020 - October 2022

We are exploring the utilization of the Variable Height Inverted Pendulum (VH-IP) within the IS-MPC framework to generate 3D gait, comprising for instance stair climbing and running. In particular, we address the problem as a two stage MPC: at each iteration we compute first the vertical trajectory and then use it to define a time-varying horizontal component. For the latter, we design a stability constraint that guarantees that the CoM trajectories are bounded with respect to the ZMP.

Preliminary results have been presented at the 2021 I-RIM 3D conference.

A paper containing all the results of the research has been published in Frontiers in Robotics and AI.