Generalizations of the capture point to nonlinear center of mass paths and uneven terrain

Oscar E. Ramos, Kristoffer Karl Hauser

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

The classical Capture Point (CP) technique allows biped robots to take protective footsteps in case of a push or other disturbance, but only applies to flat terrain and a horizontally-moving Center of Mass (CoM). This paper generalizes the Capture Point technique to arbitrary terrains and CoM paths. Removing the CoM path constraint leads to an infinite number of Capture Points, each corresponding to a different path. A numerical algorithm is presented that, given an uneven terrain, enumerates Capture Points and their respective CoM trajectories. It is suitable for real-time usage as it produces all capture points in less than a millisecond on a standard PC. Proof-of-concept results are also demonstrated on a humanoid robot in a dynamic simulator.

Original languageEnglish (US)
Title of host publicationHumanoids 2015
Subtitle of host publicationHumanoids in the New Media Age - IEEE RAS International Conference on Humanoid Robots
PublisherIEEE Computer Society
Pages851-858
Number of pages8
ISBN (Electronic)9781479968855
DOIs
StatePublished - Dec 22 2015
Externally publishedYes
Event15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015 - Seoul, Korea, Republic of
Duration: Nov 3 2015Nov 5 2015

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2015-December
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Other

Other15th IEEE RAS International Conference on Humanoid Robots, Humanoids 2015
Country/TerritoryKorea, Republic of
CitySeoul
Period11/3/1511/5/15

Keywords

  • Dynamics
  • Foot
  • Force
  • Legged locomotion
  • Mathematical model
  • Trajectory

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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