Online adaptation of reference trajectories for the control of walking systems

Abstract : A simple and widely used way to make a robotic system walk without falling is to make it track a reference tra jectory 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 tra jectory being tracked. Encouraging simulations are obtained in the end on a simple planar biped model.
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Robotics and Autonomous Systems, Elsevier, 2006, 54 (7), pp.559-566. <10.1016/j.robot.2006.04.007>
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Pierre-Brice Wieber, Christine Chevallereau. Online adaptation of reference trajectories for the control of walking systems. Robotics and Autonomous Systems, Elsevier, 2006, 54 (7), pp.559-566. <10.1016/j.robot.2006.04.007>. <inria-00390423>

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