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.
https://hal.archives-ouvertes.fr/hal-00601291
Contributeur : Thomas Moulard
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Soumis le : lundi 23 avril 2012 - 15:39:00
Dernière modification le : mardi 11 septembre 2018 - 15:19:07
Document(s) archivé(s) le : jeudi 15 décembre 2016 - 00:06:38
Thomas Moulard, Florent Lamiraux, Olivier Stasse. Trajectory Following for Legged Robots. International Conference on Biomedical Robotics and Biomechatronics (BioRob'2012), Jun 2012, Rome, Italy. p.657-662, 2012. 〈hal-00601291v3〉
