Online adaptation of reference trajectories for the control of walking systems

Abstract : A simple and widely used way to make a robotic system walkwithout falling is to make it track a reference trajectory in one way or another, but the stability obtained this way may be limited and even small perturbations may lead to a fall. We propose here a series of heuristics to improve the stability that can be obtained from such a tracking control law, through an online adaptation of the choice of the reference trajectory being tracked. Encouraging simulations are obtained in the end on a simple planar biped model.
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  • HAL Id : inria-00070702, version 1

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Pierre-Brice Wieber, Christine Chevallereau. Online adaptation of reference trajectories for the control of walking systems. [Research Report] RR-5298, INRIA. 2004, pp.16. ⟨inria-00070702⟩

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