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Small-space controllability of a walking humanoid robot

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5 Author(s)
Sébastien Dalibard ; CNRS; LAAS; 7 avenue du colonel Roche, F-31077 Toulouse Cedex 4, France ; Antonio El Khoury ; Florent Lamiraux ; Michel Taïx
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This paper presents a two-stage motion planner for walking humanoid robots. A first draft path is computed using random motion planning techniques that ensure collision avoidance. In a second step, the draft path is approximated by a whole-body dynamically stable walk trajectory. The contributions of this work are: (i) a formal guarantee, based on small space controllability criteria, that the first draft path can be approximated by a collision-free dynamically stable trajectory; (ii) an algorithm that uses this theoretical property to find a solution trajectory. We have applied our method on several problems where whole-body planning and walk are needed, and the results have been validated on a real platform: the robot HRP-2.

Published in:

Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on

Date of Conference:

26-28 Oct. 2011