Dynamic acyclic motion from a planar contact-stance to another - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2008

Dynamic acyclic motion from a planar contact-stance to another


This paper addresses the problem of generating dynamic motion for a humanoid between two predefined postures. The humanoid robot starts its motion from a statically stable configuration to another known statically stable configuration when it is necessary to make step; that is, the center of mass (COM) is inside the support polygon at the initial and the goal configurations. A dynamic motion generation method is proposed in order to generate the whole-body robot motion. Zero moment point preview control is used for maintaining dynamic stability while the robot is taking the step and suitable splines are used for generating the hands, neck and foot motion because it is a free motion on the field of gravity; the screw theory is applied under Lie groups for kinematics and dynamics humanoid modeling, which allows smooth and natural humanoid motion. Successful results on the HRP-2 humanoid robot are shown and discussed.

Dates and versions

lirmm-00798818 , version 1 (10-03-2013)



Mario Arbulú, Kazuhito Yokoi, Abderrahmane Kheddar, Carlos Balaguer. Dynamic acyclic motion from a planar contact-stance to another. IROS'08: International Conference on Intelligent Robots and Systems, Sep 2008, Nice, France. pp.3440-3445, ⟨10.1109/IROS.2008.4650978⟩. ⟨lirmm-00798818⟩
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