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.
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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