CCC::FootGuidedControl1d Class Reference

Foot-guided control for one-dimensional motion. More...

#include <FootGuidedControl.h>

Classes
struct	RefData
	Reference data. More...

Public Types
using	InitialParam = double
	Initial parameter. More...

Public Member Functions
	FootGuidedControl1d (double com_height)
	Constructor. More...
double	planOnce (const RefData &ref_data, const InitialParam &initial_param, double current_time) const
	Plan one step. More...

Protected Attributes
double	omega_ = 0
	Time constant for inverted pendulum dynamics. More...

Detailed Description

Foot-guided control for one-dimensional motion.

The method is based on the analytical solution of an optimization problem consisting of a ZMP objective and a capture point constraint.

See the following for a detailed formulation.

• T Sugihara, et al. Foot-guided agile control of a biped robot through ZMP manipulation. IROS, 2017.
• Y Kojio, et al. Unified balance control for biped robots including modification of footsteps with angular momentum and falling detection based on capturability. IROS, 2019.

Definition at line 23 of file FootGuidedControl.h.

Member Typedef Documentation

InitialParam

using CCC::FootGuidedControl1d::InitialParam = double

Initial parameter.

Initial parameter is capture point only.

Definition at line 46 of file FootGuidedControl.h.

Constructor & Destructor Documentation

FootGuidedControl1d()

CCC::FootGuidedControl1d::FootGuidedControl1d ( double  com_height )

inline

Constructor.

Parameters

com_height

height of robot CoM [m]

Definition at line 52 of file FootGuidedControl.h.

Member Function Documentation

planOnce()

double CCC::FootGuidedControl1d::planOnce	(	const RefData &	ref_data,
		const InitialParam &	initial_param,
		double	current_time
	)		const

Plan one step.

Parameters

ref_data	reference data
initial_param	initial parameter (current capture point)
current_time	current time (i.e., start time of horizon) [sec]

Returns

planned ZMP

Member Data Documentation

omega_

double CCC::FootGuidedControl1d::omega_ = 0

protected

Time constant for inverted pendulum dynamics.

Definition at line 64 of file FootGuidedControl.h.

---

The documentation for this class was generated from the following file:

• /home/runner/work/CentroidalControlCollection/CentroidalControlCollection/colcon_ws/src/isri-aist/CentroidalControlCollection/include/CCC/FootGuidedControl.h