| Giulio Romualdi |
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The Capture Point (CP) was a well known concept in robot locomotion. It was firstly introduced by Pratt et al. using the linear inverted pendulum orbital energy. Then it was formalized by Englsberger et al.. The CP is defined as the point on the ground which, when the ZMP is at this position, ensures that the robot comes to rest in a vertical position. You can find further information here and here.
The objectives of the element are:
- Implement the locomotion task on iCub using the MPC approach: this controller architecture is mainly based on the Englsberger's work;
- Implement the locomotion task on iCub using the standard reactive control: a simple controller architecture will be implemented in order to verify if the MPC approach is strictly necessary;
- Compare the results obtained with the controllers above: a techincal report will be produced in order to shown the results obtained with both of the controller architectures.
The possible outcomes can be summarized in the following list:
- A C++ software that implements a trajectory generator for the CP
- A C++ software that implements a MPC for the Capture Point
- A C++ software that implements a standard reactive controller for the Capture Point
The following epic-tasks can been identified:
- Implement a CP trajectory generator from the desired footstep positions provided from a kinematic footstep planning algorithm
- Make iCub walk with the MPC-CP approach using the IK framework and Position Control
- Make iCub walk with the reactive control approach using the IK framework and Position Control