DocumentCode
3016333
Title
Approximation of feasibility tests for reactive walk on HRP-2
Author
Perrin, Nicolas ; Stasse, Olivier ; Lamiraux, Florent ; Yoshida, Eiichi
Author_Institution
CNRS, Univ. de Toulouse, Toulouse, France
fYear
2010
fDate
3-7 May 2010
Firstpage
4243
Lastpage
4248
Abstract
We present here an original approach to test the feasibility of footsteps for a given walking pattern generator. It is based on a new approximation algorithm intended to cope with this specific problem. The result obtained is used on the robot HRP-2, and enables it to guess a step feasibility 40,000 times faster (in 9μs) than with the normal verification process. As a consequence some advance is made towards fast online motion (re)planning based on a continuous set of possible steps.
Keywords
gait analysis; humanoid robots; legged locomotion; path planning; feasibility test; legged humanoid robot; online motion planning; pattern generator; reactive walk; robot HRP-2; Approximation algorithms; Automatic test pattern generation; Automatic testing; Cathode ray tubes; Humanoid robots; Legged locomotion; Orbital robotics; Robotics and automation; Test pattern generators; USA Councils;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location
Anchorage, AK
ISSN
1050-4729
Print_ISBN
978-1-4244-5038-1
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2010.5509395
Filename
5509395
Link To Document