Walking without thinking about it

We demonstrate in this paper our motion generation sheme for the generation of stable bipedal walking motions and we expand it to enhance its flexibility and independency. An algorithm for the control of appropriate orientations of the feet and the trunk permits the robot to turn in a natural and sa...

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Bibliographic Details
Published in2010 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 190 - 195
Main Authors Herdt, A, Perrin, N, Wieber, Pierre-Brice
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2010
Subjects
Acceleration
Foot
Joints
Legged locomotion
Linear Model Predictive Control
Optimization
Trajectory
Walking Humanoid Robot
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ISBN9781424466740
1424466741
ISSN2153-0858
DOI10.1109/IROS.2010.5654429

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Summary:We demonstrate in this paper our motion generation sheme for the generation of stable bipedal walking motions and we expand it to enhance its flexibility and independency. An algorithm for the control of appropriate orientations of the feet and the trunk permits the robot to turn in a natural and safe way. Polygonal constraints on the positions of the computed feet positions serve to improve its reliability. A logic for the succession of the support phases and an algorithm for the automatic control of their orientations bridge the gap to more autonomy and to more practicability.
ISBN:9781424466740
1424466741
ISSN:2153-0858
DOI:10.1109/IROS.2010.5654429