This paper presents a mixed‐integer model predictive controller for walking. In the proposed scheme, mixed‐integer quadratic programs (MIQP) are solved online to simultaneously decide center of mass jerks, footsteps positions, durations, and rotations while respecting actuation, geometry, and contact constraints. Most walking controllers require preplanned footstep rotations to avoid dealing with the nonlinearity introduced by foot rotation decision. The main contribution of this work is an optimization formulation where feet rotations are automatically planned to attain a reference speed rotation. Finally, simulation results are shown to present and discuss the capabilities of the proposed formulation.

中文翻译：

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混合整数二次编程，用于自动行走的脚步放置，持续时间和旋转

本文提出了一种用于行走的混合整数模型预测控制器。在提出的方案中，在线求解混合整数二次程序（MIQP），以在考虑致动，几何形状和接触约束的同时确定重心的中心，足迹位置，持续时间和旋转。大多数行走控制器都需要预先计划的脚步旋转，以避免处理脚旋转决策引入的非线性。这项工作的主要贡献是优化公式，其中自动计划了脚的旋转以获得参考速度旋转。最后，显示了仿真结果以展示和讨论所提出配方的功能。