The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM
Online ISSN : 2424-3116
2015.6
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Extending humanoid footstep planning with ZMP tracking error constraints
Martim BrandaoKenji HashimotoAtsuo Takanishi
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CONFERENCE PROCEEDINGS FREE ACCESS

Pages 130-

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Abstract

In this paper we use an extended footstep planning algorithm to plan optimal humanoid locomotion trajectories subject to constraints on the maximum predicted Zero Moment Point (ZMP) tracking error. The approach can guarantee walking stability bounds with little extra computational burden, thus increasing safety of robots walking in challenging environments. This is done by estimating energy and stability models in simulation through Bayesian optimization, and smartly integrating the models into search-based planning.

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© 2015 The Japan Society of Mechanical Engineers
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