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
* Corresponding author
3 BIPOP - Modelling, Simulation, Control and Optimization of Non-Smooth Dynamical Systems
Inria Grenoble - Rhône-Alpes, LJK - Laboratoire Jean Kuntzmann, INPG - Institut National Polytechnique de Grenoble
4 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : 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.
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Olivier Stasse, Bjorn Verrelst, Pierre-Brice Wieber, Bram Vanderborght, Paul Evrard, et al.. Modular Architecture for Humanoid Walking Pattern Prototyping and Experiments. Advanced Robotics, Taylor & Francis, 2008, 22 (6-7), pp.589-611. ⟨10.1163/156855308X305236⟩. ⟨inria-00390485⟩

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