Strategies for Humanoid Robots to Dynamically Walk Over Large Obstacles

This study proposes a complete solution to make the humanoid robot HRP-2 dynamically step over large obstacles. As compared with previous results using quasistatic stability, where the robot crosses over a 15-cm obstacle in 40 s, our solution allows HRP-2 to step over the same obstacle in 4 s. This approach allows the robot to clear obstacles as high as 21% of the robot's leg length (15 cm) while walking. Simulations show the possibility to step over an obstacle that is 35% of the length (25 cm) with a margin of 3 cm.