A Biped Walking Pattern Generator based on Half-Steps for Dimensionality Reduction

  • Posted on: 19 August 2014
  • By: ostasse
TitleA Biped Walking Pattern Generator based on Half-Steps for Dimensionality Reduction
Publication TypeConference Paper
Year of Publication2011
AuthorsPerrin, N, Stasse, O, Lamiraux, F, Yoshida, E
Conference NameIEEE/RAS Int. Conf. on Robotics and Automation (ICRA)
ISBN Number978-1-61284-386-5
KeywordsMotion planning, Walking pattern generator
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 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.

URLhttp://hal.archives-ouvertes.fr/docs/00/59/36/59/PDF/ICRA2011.pdf
DOI10.1109/ICRA.2011.5979917
Refereed DesignationUnknown