# Planning with the Center-of-Mass rather than Stances for Humanoids Walking on Uneven Terrains

Stéphane Caron and Yoshihiko Nakamura. IFToMM 2015, Taipei, Taiwan, October 2015.

## Abstract¶

In the current literature for non-gaited humanoid motion planning, stances (i.e., contact locations) are usually planned in a first step, after which joint-angle trajectories are interpolated or planned themselves. In this paper, we propose an alternative where planning is driven by center-of-mass motions rather than stances. Our approach uses a randomized motion planner as its first layer to explore the space of horizontal CoM coordinates. At a lower level, we propose a custom method to extend stances based on a desired CoM position. We evaluate the ability of the resulting planner in a rubble-field 3D environment with a model of the HYDRA humanoid robot.

## BibTeX¶

@inproceedings{caron2015iftomm,
title = {Planning with the Center-of-Mass rather than Stances for Humanoids Walking on Uneven Terrains},
author = {Caron, St{\'e}phane and Nakamura, Yoshihiko},
booktitle = {Proceedings of the 14th World Congress in Mechanism and Machine Science},
year = {2015},
pages = {554--558},
}

## Discussion ¶

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