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Hand placement during quadruped locomotion in a humanoid robot: {A} dynamical system approach


Conference Paper


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.

Author(s): Degallier, S. and Righetti, L. and Ijspeert, A.J.
Book Title: 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems
Pages: 2047--2052
Year: 2007
Publisher: IEEE

Department(s): Movement Generation and Control
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/IROS.2007.4399478

Address: San Diego, USA
URL: https://infoscience.epfl.ch/record/128614/files/IROS.pdf


  title = {Hand placement during quadruped locomotion in a humanoid robot: {A} dynamical system approach},
  author = {Degallier, S. and Righetti, L. and Ijspeert, A.J.},
  booktitle = {2007 {IEEE}/{RSJ} {International} {Conference} on {Intelligent} {Robots} and {Systems}},
  pages = {2047--2052},
  publisher = {IEEE},
  address = {San Diego, USA},
  year = {2007},
  url = {https://infoscience.epfl.ch/record/128614/files/IROS.pdf}