Humanoid feet trajectory generation for the reduction of the dynamical effects - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2009

Humanoid feet trajectory generation for the reduction of the dynamical effects

Paolo Pierro
  • Function : Author
Olivier Stasse
Abderrahmane Kheddar
Kazuhito Yokoi
  • Function : Author
  • PersonId : 837110
Carlos Balaguer
  • Function : Author

Abstract

In this paper we present a different strategy for generating the trajectory of the swinging leg for a walking humanoid robot which takes into account the effects due to acceleration and velocities of the joints onto the center of mass of the robot. The trajectory of the leg is chosen to be constituted by two forth order polynomials interlaced by a via-point which satisfies the optimality criterium. This approach is validated on a humanoid robot HRP-2.
Fichier principal
Vignette du fichier
2009_humanoids_pierro-Humanoid_feet_trajectory_generation_for_the_reduction_of_the_dynamical_effects.pdf (142.14 Ko) Télécharger le fichier
Origin : Files produced by the author(s)
Loading...

Dates and versions

lirmm-00796738 , version 1 (05-03-2013)

Identifiers

Cite

Paolo Pierro, Olivier Stasse, Abderrahmane Kheddar, Kazuhito Yokoi, Carlos Balaguer. Humanoid feet trajectory generation for the reduction of the dynamical effects. Humanoids, Dec 2009, Paris, France. pp.454-458, ⟨10.1109/ICHR.2009.5379542⟩. ⟨lirmm-00796738⟩
212 View
808 Download

Altmetric

Share

Gmail Facebook X LinkedIn More