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

Stéphane Caron, Yoshihiko Nakamura. 14th World Congress in Mechanism and Machine Science (IFToMM), Taipei, Taiwan, 25-30 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 = {14th World Congress in Mechanism and Machine Science},
  organization = {國立臺灣大學機械系},
  pages = {554--558},
  year = {2015},
  organization = {International Federation for the Promotion of Mechanism and Machine Science}
}
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