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
* Auteur correspondant
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.
Type de document :
Article dans une revue
Advanced Robotics, Taylor & Francis, 2008, 22 (6-7), pp.589-611. <10.1163/156855308X305236>
Liste complète des métadonnées


https://hal.inria.fr/inria-00390485
Contributeur : Pierre-Brice Wieber <>
Soumis le : mardi 2 juin 2009 - 14:16:57
Dernière modification le : vendredi 9 juin 2017 - 10:43:09
Document(s) archivé(s) le : vendredi 11 juin 2010 - 00:10:29

Fichier

stasse_et_al_ar2008.pdf
Fichiers produits par l'(les) auteur(s)

Identifiants

Collections

Citation

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>

Partager

Métriques

Consultations de
la notice

465

Téléchargements du document

403