Extending humanoid footstep planning with ZMP tracking error constraints
Martim Brandão, Kenji Hashimoto, Atsuo Takanishi · The Abstracts of the international conference on advanced mechatronics toward evolutionary fusion of IT and mechatronics ICAM · 2015
In this paper we use an extended footstep planning algorithm to plan optimal humanoid locomotion trajectories subject to constraints on the maximum predicted Zero Moment Point (ZMP) tracking error. The approach can guarantee walking stability bounds with little extra computational burden, thus increasing safety of robots walking in challenging environments. This is done by estimating energy and stability models in simulation through Bayesian optimization, and smartly integrating the models into search-based planning.