Humanoid feet trajectory generation for the reduction of the dynamical effects

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

Some comments on the structure of the dynamics of articulated motion

International audienceWalking, running or jumping are special cases of articulated motions which rely heavily on contact forces for their accomplishment. This central role of the contact forces is widely recognized now, but it is rarely connected to the structure of the dynamics of articulated motion. Indeed, this dynamics is generally considered as a complex nonlinear black-box without any specific structure, or its structure is only partly uncovered. We propose here to precise this structure and show in details how it shapes the movements that an articulated system might realize. Some propositions are made then to improve the design of control laws for walking, running, jumping or free-floating motions

積算状態推定に基づくヒューマノイドロボットの継続的タスク実行システムの構成法

学位の種別: 課程博士審査委員会委員 : （主査）東京大学准教授 岡田 慧, 東京大学教授 中村 仁彦, 東京大学教授 稲葉 雅幸, 東京大学教授 國吉 康夫, 東京大学准教授 高野 渉University of Tokyo(東京大学