Strategies for Humanoid Robots to Dynamically Walk over Large Obstacles

O . Stasse, B. Verrelst, B. Vanderborght, K. Yokoi,
IEEE Transactions on Robotics, 2009, Vol (25), Issue (4), pages (960-967), HAL Publisher Bib PDF

Abstract:

This study proposes a complete solution to make the humanoid robot HRP-2 dynamically step over large obstacles. As compared to previous results using quasi-static stability [1] where the robot crosses over a 15 cm obstacle in 40 s, our solution allows HRP-2 to step over the same obstacle in 4 s. This approach allows the robot to clear obstacles as high as 21% of the robot's leg length (15 cm) while walking. Simulations show the possibility to step over an obstacle that is 35% of the length(25 cm) with a margin of 3 cm.