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humanoid_walk: halfsteps_pattern_generator | walk_interfaces | walk_msgs | walk_tools

Package Summary

This packages provides a pattern generator based on half-steps for dimensionality reduction. It generates feet, center of mass and ZMP trajectories for humanoids robots from a set of 2d footprints.

humanoid_walk: halfsteps_pattern_generator | walk_interfaces | walk_msgs | walk_tools

Package Summary

This packages provides a pattern generator based on half-steps for dimensionality reduction. It generates feet, center of mass and ZMP trajectories for humanoids robots from a set of 2d footprints.

This package provides the reference implementation of the paper "A biped walking pattern generator based on “half-steps” for dimensionality reduction".

It can be used to generate walking trajectories for humanoid robots. See the tutorials to learn how to use this package.

Half-steps pattern generator trajectories displayed in RViz

Algorithm specific parameters

This algorithm requires additional parameters:

  • Global parameters

    • time before ZMP shift

    • time after ZMP shift

    • step

  • Per footprint parameters

    • slide up

    • slide down

    • horizontal distance

    • step height

ROS API

generator

Trajectory generation node.

Published Topics

com (nav_msgs/Path)
  • Center of mass trajectory.
footprints (visualization_msgs/MarkerArray)
  • Footprints position.
left_foot (nav_msgs/Path)
  • Left foot trajectory.
right_foot (nav_msgs/Path)
  • Right foot trajectory.
zmp (nav_msgs/Path)
  • ZMP trajectory.

Services

getPath (walk_msgs/GetPath)
  • Generate a trajectory from footprints positions.

Parameters

time_before_zmp_shift (Float64, default: 0.95)
  • Time between the beginning of the half-step and the ZMP shift.
time_after_zmp_shift (Float64, default: 1.05)
  • Time between the beginning of the ZMP shift and the end of the half-step.
step (Float64, default: 0.005)
  • Discretization step. It is highly recommended to keep the default value (i.e. 0.005s).
world_frame_id (string, default: /world)
  • World frame name (i.e. the reference frame in which the trajectories are expressed).

Videos

The following demonstrations are relying on this pattern generator.

References

  • N. Perrin, O. Stasse, F. Lamiraux, E. Yoshida. A biped walking pattern generator based on “half-steps” for dimensionality reduction. In Proc. of the 2011 IEEE International Conference on Robotics and Automation (ICRA) [ pdf ]

  • L. Baudouin, N. Perrin, T. Moulard, O. Stasse, F. Lamiraux, E. Yoshida Real-time Replanning Using 3D Environment for Humanoid Robot. In Proc. of the 2011 IEEE/RAS International Conference on Humanoid Robots [ pdf ]


2019-07-13 12:41