Footstep planning for humanoid robots: discrete and continuous approaches

Nicolas Perrin 1
1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes
LAAS - Laboratoire d'analyse et d'architecture des systèmes
Abstract : In this thesis we investigate two types of approaches for footstep planning for humanoid robots: on one hand the discrete approaches where the robot has only a finite set of possible steps, and on the other hand the approaches where the robot uses continuous feasibility regions. We study these problems both on a theoretical and practical level. In particular, we describe two original, coherent and efficient methods for footstep planning, one in the discrete case (chapter 5), and one in the continuous case (chapter 6). We validate these methods in simulation and with several experiments on the robot HRP-2.
Document type :
Theses
Complete list of metadatas

Cited literature [132 references]  Display  Hide  Download

https://tel.archives-ouvertes.fr/tel-00647469
Contributor : Arlette Evrard <>
Submitted on : Friday, December 2, 2011 - 10:16:49 AM
Last modification on : Saturday, October 26, 2019 - 1:34:24 AM
Long-term archiving on: Monday, December 5, 2016 - 5:07:44 AM

Identifiers

  • HAL Id : tel-00647469, version 1

Citation

Nicolas Perrin. Footstep planning for humanoid robots: discrete and continuous approaches. Robotics [cs.RO]. Institut National Polytechnique de Toulouse - INPT, 2011. English. ⟨tel-00647469⟩

Share

Metrics

Record views

457

Files downloads

768