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Communication Dans Un Congrès Année : 2010

Approximation of Feasibility Tests for Reactive Walk on HRP-2

Résumé

We present here an original approach to test the feasibility of footsteps for a given walking pattern generator. It is based on a new approximation algorithm intended to cope with this specific problem. The result obtained is used on the robot HRP-2, and enables it to guess a step feasibility 40,000 times faster (in 9μs) than with the normal verification process. As a consequence some advance is made towards fast online motion (re)planning based on a continuous set of possible steps.
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Dates et versions

hal-00455454 , version 1 (10-02-2010)

Identifiants

  • HAL Id : hal-00455454 , version 1

Citer

Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Eiichi Yoshida. Approximation of Feasibility Tests for Reactive Walk on HRP-2. IEEE International Conference on Robotics and Automation, May 2010, Anchorage, United States. pp.1-6. ⟨hal-00455454⟩
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