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An approach of generic solution for humanoid stepping over motion

Mario Arbulú 1 Abderrahmane Kheddar 2, 3 Eiichi Yoshida 3
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper deals with a novel solution for humanoid robots stepping over motion. It covers kinematics and dynamics problem, on the development of dynamically stable stepping over motion around an obstacle of any dimensions and configuration, between two generic footprints. The approach is solved taking into account the geometric constraints, by the use of oriented bounding boxes (OBB), the ZMP based and contact wrench dynamical constraints. This approach is validated successfully, by simulation and actual tests on the HRP-2 humanoid robot platform.
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Submitted on : Sunday, January 27, 2013 - 8:24:15 PM
Last modification on : Thursday, March 18, 2021 - 7:26:04 PM




Mario Arbulú, Abderrahmane Kheddar, Eiichi Yoshida. An approach of generic solution for humanoid stepping over motion. Humanoids, Dec 2010, Nashville, TN, United States. pp.474-479, ⟨10.1109/ICHR.2010.5686345⟩. ⟨lirmm-00781556⟩



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