Trajectory Following for Legged Robots

Thomas Moulard; Florent Lamiraux; Olivier Stasse

Trajectory Following for Legged Robots

Thomas Moulard ^{1, *} Florent Lamiraux ¹ Olivier Stasse ²

* Auteur correspondant

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes

LAAS - Laboratoire d'analyse et d'architecture des systèmes [Toulouse]

2 CNRS-AIST JRL - Joint Robotics Laboratory [France]

Abstract : While robust trajectory following is a well-studied problem on mobile robots, the question of how to track accurately a trajectory on a humanoid robot remains open. This paper suggests a closed-loop trajectory tracking strategy aimed at humanoid robots. Compared to approaches from mobile robotics, this control scheme takes into account footsteps alteration, equilibrium constraints and singularities avoidance for humanoids. It provides a robust way to execute long and/or precise motion with the ability of correcting on-line preplanned trajectories in a very reactive manner. Results have been validated on the HRP-2 humanoid platform.

Keywords : Humanoid robots Motion planning Robot control

Type de document :

Communication dans un congrès

International Conference on Biomedical Robotics and Biomechatronics (BioRob'2012), Jun 2012, Rome, Italy. p.657-662, 2012

Domaine :

Informatique [cs] / Robotique [cs.RO]

Liste complète des métadonnées

https://hal.archives-ouvertes.fr/hal-00601291
Contributeur : Thomas Moulard <>
Soumis le : lundi 23 avril 2012 - 15:39:00
Dernière modification le : mercredi 11 janvier 2017 - 01:04:21
Document(s) archivé(s) le : jeudi 15 décembre 2016 - 00:06:38

Trajectory Following for Legged Robots

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