Dynamic Walking makes Humanoid Robot Small-Space Controllable: Application to Motion Planning

Sébastien Dalibard (1) , Antonio El Khoury (1) , Florent Lamiraux (1) , Michel Taïx (1) , Jean-Paul Laumond (1)

1 LAAS - Laboratoire d'analyse et d'architecture des systèmes

This paper presents humanoid robot small-space controllability: a the- oretical result with practical consequences on dynamic walk motion plan- ning. Based on it, we propose a two-stage motion planner for walking humanoid robots. A rst draft path is computed using probabilistically complete random motion planning techniques that ensure collision avoid- ance. In a second step, the draft path is approximated by a whole-body dynamically stable walk trajectory. The contributions of this work are: (i) a formal guarantee, based on small-space controllability criteria, that the rst draft path can be approximated by a collision-free dynamically stable trajectory; (ii) an algorithm that uses this theoretical property to nd a solution trajectory. We have applied our method on several prob- lems where whole-body planning and walk are needed, and the results have been validated on a real platform: the robot HRP-2.

Domaines: Robotique [cs.RO]

Sébastien Dalibard, Antonio El Khoury, Florent Lamiraux, Michel Taïx, Jean-Paul Laumond. Dynamic Walking makes Humanoid Robot Small-Space Controllable: Application to Motion Planning. 2011. ⟨hal-00654175v1⟩