Online regeneration of bipedal walking gait optimizing footstep placement and timing

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Title: Online regeneration of bipedal walking gait optimizing footstep placement and timing
Authors: Kryczka, P
Kormushev, P
Tsagarakis, N
Caldwell, DG
Item Type: Conference Paper
Abstract: We propose a new algorithm capable of online regeneration of walking gait patterns. The algorithm uses a nonlinear optimization technique to find step parameters that will bring the robot from the present state to a desired state. It modifies online not only the footstep positions, but also the step timing in order to maintain dynamic stability during walking. Inclusion of step time modification extends the robustness against rarely addressed disturbances, such as pushes towards the stance foot. The controller is able to recover dynamic stability regardless of the source of the disturbance (e.g. model inaccuracy, reference tracking error or external disturbance). We describe the robot state estimation and center-of-mass feedback controller necessary to realize stable locomotion on our humanoid platform COMAN. We also present a set of experiments performed on the platform that show the per- formance of the feedback controller and of the gait pattern regenerator. We show how the robot is able to cope with series of pushes, by adjusting step times and positions.
Issue Date: 30-Sep-2015
Date of Acceptance: 29-Jun-2015
Publisher: IEEE
Start Page: 3352
End Page: 3357
Journal / Book Title: Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2015)
Copyright Statement: © 2015 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Conference Name: IROS 2015
Publication Status: Accepted
Publisher URL:
Start Date: 2015-09-28
Finish Date: 2015-10-02
Conference Place: Hamburg, Germany
Appears in Collections:Dyson School of Design Engineering

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