ICRA 2011 Paper Abstract

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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 21, 2019

Keywords Humanoid Robots, Motion and Path Planning, Collision Avoidance

Abstract

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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