inria-00567668, version 1
Walking without thinking about it
Andrei Herdt
a, 1Nicolas Perrin 2, 3Pierre-Brice Wieber a, 1
IEEE-RSJ International Conference on Intelligent Robots & Systems (2010)
Résumé : We demonstrate how the MPC sheme for the generation of stable bipedal walking motions, that has been introduced in [7], can be further expanded to enhance its flexibility and independency. An algorithm for the control of appropriate orientations of the feet and the trunk permits the robot to turn in a natural and safe way. Polygonal constraints on the positions of the computed feet positions serve to improve its reliability. A logic for the succession of the support phases and an algorithm for the automatic control of their orientations bridge the gap to more autonomy and to more practicability.
- a – INRIA
- 1 : BIPOP (INRIA Grenoble Rhône-Alpes / LJK Laboratoire Jean Kuntzmann)
- INRIA – Laboratoire Jean Kuntzmann
- 2 : Joint Robotics Laboratory AIST & CNRS (JRL)
- AIST – CNRS : UMI3218
- 3 : Laboratoire d'analyse et d'architecture des systèmes (LAAS)
- CNRS : UPR8001 – Université Paul Sabatier - Toulouse III – Institut National Polytechnique de Toulouse - INPT – Institut National des Sciences Appliquées de Toulouse
- Domaine : Informatique/Robotique
- Référence interne : Rapport LAAS n° 10895
- inria-00567668, version 1
- http://hal.inria.fr/inria-00567668
- oai:hal.inria.fr:inria-00567668
- Contributeur : Pierre-Brice Wieber
- Soumis le : Lundi 21 Février 2011, 16:01:21
- Dernière modification le : Vendredi 25 Février 2011, 13:59:34
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