A Biped Walking Pattern Generator based on Half-Steps for Dimensionality ReductionReportar como inadecuado




A Biped Walking Pattern Generator based on Half-Steps for Dimensionality Reduction - Descarga este documento en PDF. Documentación en PDF para descargar gratis. Disponible también para leer online.

1 CNRS-AIST JRL - Joint Robotics Laboratory France 2 LAAS - Laboratoire d-analyse et d-architecture des systèmes Toulouse 3 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes LAAS - Laboratoire d-analyse et d-architecture des systèmes Toulouse

Abstract : 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.

Keywords : Motion planning Footstep planning Humanoid robot Gait generation





Autor: Nicolas Perrin - Olivier Stasse - Florent Lamiraux - Eiichi Yoshida -

Fuente: https://hal.archives-ouvertes.fr/



DESCARGAR PDF




Documentos relacionados