Published October 18, 2019
| Version v1
Poster
Open
Online Trajectory Generation for Step Recovery in Bipedal Robot Locomotion
Description
We present a computationally efficient technique aimed at planning bipedal walking trajectories for push recovery. By modifying a layered walking controller, in case of pushes, we are able to plan a new position and timing for the forthcoming step. Tests have been performed in the Gazebo simulation environment using the one-meter-tall iCub humanoid robot model. Results show the effectiveness of the approach in stabilizing walking motions in case of strong external disturbances.
Notes
https://youtu.be/BOPfzk917bQ
Files
Online Trajectory Generation for Step Recovery in Bipedal Robot Locomotion.pdf
Files
(14.7 MB)
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