Trajectory Following for Legged Robots

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.
Type de document :
Pré-publication, Document de travail
Rapport LAAS n° 11429. submitted to the 2012 IEEE International Conference on Robotics and Automation (ICRA). 2011
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https://hal.archives-ouvertes.fr/hal-00601291
Contributeur : Thomas Moulard <>
Soumis le : vendredi 17 juin 2011 - 12:06:40
Dernière modification le : mardi 11 septembre 2018 - 15:18:14
Document(s) archivé(s) le : vendredi 9 novembre 2012 - 15:20:22

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  • HAL Id : hal-00601291, version 1

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Thomas Moulard, Florent Lamiraux, Olivier Stasse. Trajectory Following for Legged Robots. Rapport LAAS n° 11429. submitted to the 2012 IEEE International Conference on Robotics and Automation (ICRA). 2011. 〈hal-00601291v1〉

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