Trajectory Following for Legged Robots

Thomas Moulard (1) , Florent Lamiraux (1) , Olivier Stasse (2)

1 LAAS - Laboratoire d'analyse et d'architecture des systèmes
2 CNRS-AIST JRL - Joint Robotics Laboratory

While robust trajectory following is a well-studied problem on mobile robots, the question of how to track accurately a trajectory on a humanoid robot remains open. This paper suggests a closed-loop trajectory tracking strategy aimed at humanoid robots. Compared to approaches from mobile robotics, this control scheme takes into account footsteps alteration, equilibrium constraints and singularities avoidance for humanoids. It provides a robust way to execute long and/or precise motion with the ability of correcting on-line preplanned trajectories in a very reactive manner. Results have been validated on the HRP-2 humanoid platform.

Mots clés: Humanoid robots; Motion planning; Robot control

Domaines: Robotique [cs.RO]

Thomas Moulard, Florent Lamiraux, Olivier Stasse. Trajectory Following for Legged Robots. 2011. ⟨hal-00601291v2⟩