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Online Regeneration of Bipedal Walking Gait Optimizing Footstep Placement and Timing

The video presents experiments during which a humanoid robot is subjected to external pushes and recovers stability by changing the step placement and duration.

It starts from showing effectiveness of the feedback controller during stepping in place. Then it continues to present how the developed algorithm regenerates the step placement and duration to regain stability after lateral pushes. It concludes with showing how the algorithm works during forward locomotion.

Citation:

Przemyslaw Kryczka, Petar Kormushev, Nikos Tsagarakis, Darwin G. Caldwell, “Online Regeneration of Bipedal Walking Gait Optimizing Footstep Placement and Timing”, In Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2015), Hamburg, Germany, 2015.

Publication PDF: http://kormushev.com/papers/Kryczka_IROS-2015.pdf

More info: http://kormushev.com/publication/kryczka2015online/