Analytical real-time pattern generation for trajectory modification and footstep replanning of humanoid robots
- Resource Type
- Conference
- Authors
- Santacruz, Carlos; Nakamura, Yoshihiko
- Source
- 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on. :2095-2100 Oct, 2012
- Subject
- Robotics and Control Systems
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
Trajectory
Legged locomotion
Foot
Generators
Radio frequency
Robot sensing systems
- Language
- ISSN
- 2153-0858
2153-0866
In this paper we present a framework for generating walking motions for a humanoid robot and how to adapt the trajectory to handle disturbances during the execution of the trajectory. Based on the simplified dynamics of a mass concentrated model, we generate a physically consistent motion that depends on the current CoM state space of the robot. If the disturbance is low, it is possible to adapt the trajectory in order to reach the desired next step position. In the case of strong disturbances, we show how to modify the final goal under a reactive stepping framework. Simulations and hardware experiments with the full-size humanoid HRP-4 show the validity of the proposed scheme.