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
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;
Conference_Titel :
Robotics and Automation (ICRA), 2010 IEEE International Conference on
Conference_Location :
Anchorage, AK
Print_ISBN :
978-1-4244-5038-1
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2010.5509395
