A Biped Walking Pattern Generator based on "Half-Steps" for Dimensionality Reduction - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2011

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

Résumé

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.
Fichier principal
Vignette du fichier
ICRA2011.pdf (153.19 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)
Loading...

Dates et versions

hal-00593659 , version 1 (16-05-2011)

Identifiants

  • HAL Id : hal-00593659 , version 1

Citer

Nicolas Perrin, Olivier Stasse, Florent Lamiraux, Eiichi Yoshida. A Biped Walking Pattern Generator based on "Half-Steps" for Dimensionality Reduction. IEEE International Conference on Robotics and Automation (ICRA 2011), May 2011, Shanghai, China. ⟨hal-00593659⟩
149 Consultations
583 Téléchargements

Partager

Gmail Facebook X LinkedIn More