Vision-driven walking pattern generation for humanoid reactive walking

Mauricio Garcia (1) , Olivier Stasse (1) , Jean-Bernard Hayet (2)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
2 CIMAT - Centro de Investigación en Matemáticas

We present a novel approach to introduce visual information in the walking pattern generator for humanoid robots in a more direct way than the current existing methods. We make use of a model predictive control (MPC) visual servoing strategy, which is combined to the walking motion generator. We define two schemes based on that principle: a position-based and an image-based scheme, with a Quadratic Program (QP) formulation in both cases. Finally, we present some simulation results validating our approach.

Domaines: Robotique [cs.RO]

Mauricio Garcia, Olivier Stasse, Jean-Bernard Hayet. Vision-driven walking pattern generation for humanoid reactive walking. International Conference on Robotics and Automation, May 2014, Hong-Kong, China. 7p. ⟨hal-00990088⟩