Strategies for Humanoid Robots to Dynamically Walk over Large Obstacles
|Title||Strategies for Humanoid Robots to Dynamically Walk over Large Obstacles|
|Publication Type||Journal Article|
|Year of Publication||2009|
|Authors||Stasse, O, Verrelst, B, Vanderborght, B, Yokoi, K|
|Journal||IEEE Transactions on Robotics|
|Keywords||Motion planning, selected, Walking pattern generator|
Humanoid robots have the potential to navigate through complex environments such as the standard living surrounding of humans. One of the advantages is that a biped can negotiate obstacles by stepping over them, which is the topic of the work presented in this paper. The main focus of this research is to investigate stepping over large obstacles. Previous work has reported on algorithms using quasi-static balancing, which resulted in somehow unnatural slow motions. This work however is focussing on stepping over larger obstacles in a fluent dynamic motion, using stability criteria on zero moment point instead of center of gravity. All the work is formulated in function of the elaborate HRP-2 humanoid research platform. The strategy uses a preview controller for dynamic balancing and consists of collision free trajectory generation for feet hip. Several measures have been implemented to avoid overstretching of the knee and reduce impact at touch-down.