Modular Architecture for Humanoid Walking Pattern Prototyping and Experiments

Olivier Stasse (1) , Bjorn Verrelst (2) , Pierre-Brice Wieber (3) , Bram Vanderborght (2) , Paul Evrard (1) , Abderrahmane Kheddar (4, 1) , Kazuhito Yokoi (1)

1 JRL - Joint Japanese-French Robotics Research Laboratory [Japon]
2 VUB - Vrije Universiteit Brussel
3 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
4 IDH - Interactive Digital Humans

In this paper we describe the use of design patterns as a basis for creating humanoid walking pattern generator software having a modular architecture. This architecture enabled the rapid porting of several novel walking algorithms on a full-size humanoid robot, HRP-2. The body of work currently available allows extracting a general software architecture usable with inter-exchange between simulations and real experiments. The proposed architecture with the associated design patterns is described together with several applications: a pattern generator for a HRP-2 with passive toe joints, a pattern for dynamically stepping over large obstacles and a new quadratic problem (QP) formulation for the generation of the reference zero-momentum point. Thanks to the versatility and the modularity of the proposed framework, the QP method has been implemented and experienced within 4 days only.

Mots clés: humanoid robot; walking pattern generator; Design pattern

Domaines: Robotique [cs.RO]

Olivier Stasse, Bjorn Verrelst, Pierre-Brice Wieber, Bram Vanderborght, Paul Evrard, et al.. Modular Architecture for Humanoid Walking Pattern Prototyping and Experiments. Advanced Robotics, 2008, 22 (6-7), pp.589-611. ⟨10.1163/156855308X305236⟩. ⟨inria-00390485⟩