Trajectory following for legged robots

Abstract

Abstract-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.

Vision-based trajectory control for humanoid navigation

“…Reacting to external perturbations and environment changes are related problems usually addressed by replanning [2], [3], [4], [5] or on-line adapting the feet position [6], [7], [8]. In particular, a problem which is conceptually close to the trajectory tracking considered here is dealt with in [9], where the planned footsteps sequence is adapted so as to compensate for the effect of perturbations on the center of mass trajectory at execution time.…”