Humanoid locomotion on uneven terrain using the time-varying divergent component of motion

@article{Hopkins2014HumanoidLO,
  title={Humanoid locomotion on uneven terrain using the time-varying divergent component of motion},
  author={Michael A. Hopkins and Dennis W. Hong and Alexander Leonessa},
  journal={2014 IEEE-RAS International Conference on Humanoid Robots},
  year={2014},
  pages={266-272}
}
This paper presents a framework for dynamic humanoid locomotion on uneven terrain using a novel time-varying extension to the Divergent Component of Motion (DCM). By varying the natural frequency of the DCM, we are able to achieve generic CoM height trajectories during stepping. The proposed planning algorithm computes admissible DCM reference trajectories given desired ZMP plans for single and double support. This is accomplished using reverse-time integration of the discretized DCM dynamics… CONTINUE READING
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