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

摘要：

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.

作者: Nicolas Perrin Olivier Stasse Florent Lamiraux Eiichi Yoshida

作者单位: Nicolas Perrin is with LAAS-CNRS,Universit(e) de Toulouse UPS,INSA,INP,ISAE,7 avenue du colonel Roch Olivier Stasse and Eiichi Yoshida are with CNRS-AIST Joint Robotics Laboratory,UMI3218/CRT,Tsukuba,J Florent Lamiraux is with LAAS-CNRS,Universit(e) de Toulouse UPS,INSA,INP,ISAE,7 avenue du colonel Ro

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 1270-1275

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）