TY - GEN
T1 - Hand placement during quadruped locomotion in a humanoid robot
T2 - 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
AU - Degallier, Sarah
AU - Righetti, Ludovic
AU - Ijspeert, Auke
PY - 2007
Y1 - 2007
N2 - Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to sensory-motor feedbacks, in particular to properly place feet on specific locations, are thus needed. Dynamical systems are well suited for this task as any online modification of the parameters leads to a smooth adaptation of the trajectories, allowing a safe integration of sensory-motor feedback. In this contribution, as a first step in the direction of locomotion on irregular surfaces, we present a controller that allows hand placement during crawling in a simulated humanoid robot. The goal of the controller is to superimpose rhythmic movements for crawling with discrete (i.e. short-term) modulations of the hand placements to reach specific marks on the ground.
AB - Locomotion on an irregular surface is a challenging task in robotics. Among different problems to solve to obtain robust locomotion, visually guided locomotion and accurate foot placement are of crucial importance. Robust controllers able to adapt to sensory-motor feedbacks, in particular to properly place feet on specific locations, are thus needed. Dynamical systems are well suited for this task as any online modification of the parameters leads to a smooth adaptation of the trajectories, allowing a safe integration of sensory-motor feedback. In this contribution, as a first step in the direction of locomotion on irregular surfaces, we present a controller that allows hand placement during crawling in a simulated humanoid robot. The goal of the controller is to superimpose rhythmic movements for crawling with discrete (i.e. short-term) modulations of the hand placements to reach specific marks on the ground.
UR - http://www.scopus.com/inward/record.url?scp=51349092459&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51349092459&partnerID=8YFLogxK
U2 - 10.1109/IROS.2007.4399478
DO - 10.1109/IROS.2007.4399478
M3 - Conference contribution
AN - SCOPUS:51349092459
SN - 1424409128
SN - 9781424409129
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2047
EP - 2052
BT - Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Y2 - 29 October 2007 through 2 November 2007
ER -