Title :
Humanoid feet trajectory generation for the reduction of the dynamical effects
Author :
Pierro, Paolo ; Stasse, Olivier ; Kheddar, Abderrahmane ; YOKOI, Kazuhito ; Balaguer, Carlos
Author_Institution :
Univ. Carlos III de Madrid, Leganes, Spain
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.
Keywords :
humanoid robots; robot dynamics; humanoid feet trajectory generation; humanoid robot HRP-2; swinging leg trajectory; walking humanoid robot; Biological system modeling; Computational efficiency; Face detection; Hardware; Hidden Markov models; Human robot interaction; Humanoid robots; Lighting; Speech recognition; Tracking;
Conference_Titel :
Humanoid Robots, 2009. Humanoids 2009. 9th IEEE-RAS International Conference on
Conference_Location :
Paris
Print_ISBN :
978-1-4244-4597-4
Electronic_ISBN :
978-1-4244-4588-2
DOI :
10.1109/ICHR.2009.5379542
