ICRA 2011 Paper Abstract


Paper TuP103.3

Perrin, Nicolas Yves (Universite de Toulouse ; UPS, INSA, INP, ISAE ; LAAS), Stasse, Olivier (CNRS/AIST), Lamiraux, Florent (CNRS), Yoshida, Eiichi (National Inst. of AIST)

A Biped Walking Pattern Generator Based on ``Half-Steps'' for Dimensionality Reduction

Scheduled for presentation during the Regular Sessions "Humanoid Robots I" (TuP103), Tuesday, May 10, 2011, 14:10−14:25, Room 3D

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Humanoid Robots, Motion and Path Planning, Collision Avoidance


We present a new biped walking pattern generator based on ``half-steps''. Its key features are a) a 3-dimensional parametrization of the input space, and b) a simple homotopy that efficiently smooths the walking trajectory corresponding to a fixed sequence of steps. We show how these features can be ideally combined in the framework of sampling-based footstep planning. We apply our approach to the robot HRP-2 and are able to quickly produce smooth and dynamically stable trajectories that are solutions to a difficult problem of footstep planning.



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