Robust Humanoid Walking System Considering Recognized Terrain and Robots' Balance
Shimpei Sato,Yuta Kojio,Yohei Kakiuchi,Kunio Kojima,Kei Okada,Masayuki Inaba,Shimpei Sato,Yuta Kojio,Yohei Kakiuchi,Kunio Kojima,Kei Okada,Masayuki Inaba
When robots walk on uneven terrain, trajectory planning should take into account both the whole-body dy-namics and the ground geometry simultaneously. In uneven terrain environments, there are only a limited number of places where the robot is able to make stable contact with the ground without its feet wobbling or slipping because of the intricate round geometry. In such environments, the optiona...
