Trajectory generation for continuous leg forces during double support and heel-to-toe shift based on divergent component of motion

Johannes Englsberger, Twan Koolen, Sylvain Bertrand, Jerry Pratt, Christian Ott, Alin Albu-Schaffer
2014 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems  
This paper works with the concept of Divergent Component of Motion (DCM), also called '(instantaneous) Capture Point'. We present two real-time DCM trajectory generators for uneven (three-dimensional) ground surfaces, which lead to continuous leg (and corresponding ground reaction) force profiles and facilitate the use of toe-off motion during double support. Thus, the resulting DCM trajectories are well suited for real-world robots and allow for increased step length and step height. The
more » ... mance of the proposed methods was tested in numerous simulations and experiments on IHMC's Atlas robot and DLR's humanoid robot TORO.
doi:10.1109/iros.2014.6943128 dblp:conf/iros/EnglsbergerKBPOA14 fatcat:l3gvmkantfgcrmubqhyoug3nji