%0 Journal Article %J Autonomous Robots %D 2016 %T Optimization-based locomotion planning, estimation, and control design for Atlas %A Scott Kuindersma %A Deits, Robin %A Fallon, Maurice %A Valenzuela, Andrés %A Dai, Hongkai %A Frank Permenter %A Koolen, Twan %A Marion, Pat %A Russ Tedrake %X

This paper describes a collection of optimization algorithms for achieving dynamic planning, control, and state estimation for a bipedal robot designed to operate reliably in complex environments. To make challenging locomotion tasks tractable, we describe several novel applications of convex, mixed-integer, and sparse nonlinear optimization to problems ranging from footstep placement to whole-body planning and control. We also present a state estimator formulation that, when combined with our walking controller, permits highly precise execution of extended walking plans over non-flat terrain. We describe our complete system integration and experiments carried out on Atlas, a full-size hydraulic humanoid robot built by Boston Dynamics, Inc.

%B Autonomous Robots %V 40 %P 429–455 %G eng %N 3 %R 10.1007/s10514-015-9479-3