Approximation of Feasibility Tests for Reactive Walk on HRP-2

  • Posted on: 19 August 2014
  • By: ostasse
TitleApproximation of Feasibility Tests for Reactive Walk on HRP-2
Publication TypeConference Paper
Year of Publication2010
AuthorsPerrin, N, Stasse, O, Lamiraux, F, Yoshida, E
Conference NameIEEE/RAS Int. Conf. on Robotics and Automation (ICRA)

We present here an original approach to test the feasibility of footsteps for a given walking pattern generator. It is based on a new approximation algorithm intended to cope with this specific problem. The result obtained is used on the robot HRP-2, and enables it to guess a step feasibility 40,000 times faster (in 9 μ s) than with the normal verification process. As a consequence some advance is made towards fast online motion (re)planning based on a continuous set of possible steps