December 6-8, 2010, Sheraton Nashville Downtown, Nashville, TN

Humanoids 2010 Paper Abstract


Paper    WA-II .5

Arbulu, Mario (Universidad de La Sabana), Kheddar, Abderrahmane (CNRS), Yoshida, Eiichi (National Inst. of AIST)

An Approach of Generic Solution for Humanoid Stepping Over Motion

Scheduled for presentation during the Interactive "Interactive Session III" (   WA-II ), Wednesday, December 8, 2010, 11:10−12:10, Ballroom 2/3

2010 IEEE-RAS International Conference on Humanoid Robots, December 6-8, 2010, Sheraton Nashville Downtown, Nashville, TN, USA

This information is tentative and subject to change. Compiled on March 4, 2015

Keywords Motion Planning, Walking Patterns, and CPG, Kinematics, Dynamics, and Control, Biped Systems


This paper deals with a novel solution for humanoid robots stepping over motion. It covers kinematics and dynamics problem, on the development of dynamically stable stepping over motion around an obstacle of any dimensions and configuration, between two generic footprints. The approach is solved taking into account the geometric constraints, by the use of oriented bounding boxes (OBB), the ZMP based and contact wrench dynamical constraints. This approach is validated successfully, by simulation and actual tests on the HRP-2 humanoid robot platform.



Technical Content © IEEE Robotics & Automation Society

This site is protected by copyright and trademark laws under US and International law.
All rights reserved. © 2002-2015 PaperCept, Inc.
Page generated 2015-03-04  22:29:07 PST  Terms of use