Self-consistent automatic navigation of COM and feet for realtime humanoid robot steering

A robust self-consistent humanoid navigation method is proposed. For any given targeted position and orientation, the robot robustly chases them without bankruptcies such as leg-crossing, excess stride and deadlock. The key idea is to define a canonical stance with respect to the target independently from the current configuration, and trace them by each step alternately. It locally prioritizes the foot guidance and sacrifices the COM tracking in each step. Since the feet targets are defined consistently with the targeted COM, the global COM tracking and robust navigation including pivot turns are achieved as the result.