Walking on Non-planar Surfaces using an Inverse Dynamic Stack of Tasks

Oscar Efrain Ramos Ponce (1) , Nicolas Mansard (1) , Olivier Stasse (1) , Philippe Souères (1)

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes

This paper presents a method to handle walking on non-planar surfaces. The method obtains the trajectory of the center of mass and the next position of the foot from a pattern generator. Then, an inverse dynamics control scheme with a quadratic programming optimization solver is used to let the foot go from its initial to its final position, controlling also the center of mass and the waist. This solver is able to handle an arbitrary number of contact points. When the swinging foot is going down, collision points are detected and they are added as contact points to the model as soon as they appear. If there are three or more contact points, the foot can safely step, but if there are one or two contact points, the foot rotates properly to generate the largest support polygon. Using this heuristic, the foot can stand on non-planar surfaces. The results show the simulation of HRP-2 walking on a surface with obstacles.

Mots clés: Inverse Dynamics; Walking; Stack of Tasks

Domaines: Robotique [cs.RO]

Oscar Efrain Ramos Ponce, Nicolas Mansard, Olivier Stasse, Philippe Souères. Walking on Non-planar Surfaces using an Inverse Dynamic Stack of Tasks. IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2012), Nov 2012, Osaka, Japan. 7p. ⟨hal-00738243⟩