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

N. Perrin, O. Stasse, F. Lamiraux, E. Yoshida,
IEEE/RAS Int. Conf. on Robotics and Automation (ICRA), 2011, HAL Publisher Bib

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.