Section: New Results

Model Predictive Control for biped walking motion generation

Participants : Pierre-Brice Wieber, Nestor Alonso Bohorquez Dorante, Nahuel Villa, Matteo Ciocca, Stanislas Brossette, Alexander Sherikov.

We proposed last year a feasible Newton scheme for nonlinear MPC by combining ideas from robust control and trust regions. This year, we applied this approach to nonlinearities that appear when adapting step durations [32]. We also investigated more thoroughly the strong recursive feasibility of our scheme [34] and how it could be adapted to situations with bounded uncertainty [29]. Finally, we proposed a new approach to collision avoidance based on separating planes [38].