A Biped Walking Pattern Generator based on Half-Steps for Dimensionality Reduction
|Title||A Biped Walking Pattern Generator based on Half-Steps for Dimensionality Reduction|
|Publication Type||Conference Paper|
|Year of Publication||2011|
|Authors||Perrin, N, Stasse, O, Lamiraux, F, Yoshida, E|
|Conference Name||IEEE/RAS Int. Conf. on Robotics and Automation (ICRA)|
|Keywords||Motion planning, Walking pattern generator|
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 gait trajectory corresponding to a fixed sequence of steps. We show how these features can be ideally combined in the framework of sampling-based gait 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 gait planning.