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Small-Space Controllability of a Walking Humanoid Robot

Abstract : This paper presents a two-stage motion planner for walking humanoid robots. A first draft path is computed using random motion planning techniques that ensure collision avoidance. In a second step, the draft path is approximated by a whole-body dynamically stable walk trajectory. The contributions of this work are: (i) a formal guarantee, based on small-space controllability criteria, that the first draft path can be approximated by a collision-free dynamically stable trajectory; (ii) an algorithm that uses this theoretical property to find a solution trajectory. We have applied our method on several problems where whole-body planning and walk are needed, and the results have been validated on a real platform: the robot HRP-2.
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Contributor : Sébastien Dalibard <>
Submitted on : Monday, September 19, 2011 - 2:47:42 PM
Last modification on : Friday, January 10, 2020 - 9:10:09 PM
Long-term archiving on: : Thursday, March 30, 2017 - 3:22:43 PM


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Sébastien Dalibard, Antonio El Khoury, Florent Lamiraux, Michel Taïx, Jean-Paul Laumond. Small-Space Controllability of a Walking Humanoid Robot. Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on, Oct 2011, Bled, Slovenia. pp.739 - 744, ⟨10.1109/Humanoids.2011.6100807⟩. ⟨hal-00602384v2⟩



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