Strategies for Humanoid Robots to Dynamically Walk over Large Obstacles

Olivier Stasse (1) , Bjorn Verrelst (2) , Bram Vanderborght (2) , Kazuhito Yokoi (1)

1 HRG - Humanoid Research Group (AIST)
2 VUB - Vrije Universiteit Brussel

This study proposes a complete solution to make the humanoid robot HRP-2 dynamically step over large obstacles. As compared to previous results using quasi-static stability [1] where the robot crosses over a 15 cm obstacle in 40 s, our solution allows HRP-2 to step over the same obstacle in 4 s. This approach allows the robot to clear obstacles as high as 21% of the robot's leg length (15 cm) while walking. Simulations show the possibility to step over an obstacle that is 35% of the length(25 cm) with a margin of 3 cm.

Domaines: Robotique [cs.RO]

Olivier Stasse, Bjorn Verrelst, Bram Vanderborght, Kazuhito Yokoi. Strategies for Humanoid Robots to Dynamically Walk over Large Obstacles. IEEE Transactions on Robotics, 2009, 25 (4), pp.960 - 967. ⟨10.1109/TRO.2009.2020354⟩. ⟨hal-01016143⟩