English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

Although bipedal locomotion provides the ability to traverse unstructuredenvironments, it requires careful planning and control to safely walk acrosswithout falling. This poses an integrated challenge for the robot to perceive,plan, and control its movements, especially with dynamic motions where therobot may have to adapt its swing-leg trajectory onthe-fly in order to safelyplace its foot on the uneven terrain. In this paper we present an efficientgeometric footstep planner and the corresponding walking controller thatenables a humanoid robot to dynamically walk across uneven terrain at speeds upto 0.3 m/s. As dynamic locomotion, we refer first to the continuous walkingmotion without stopping, and second to the on-the-fly replanning of the landingfootstep position in middle of the swing phase during the robot gait cycle.This is mainly achieved through the streamlined integration between anefficient sampling-based planner and robust walking controller. The footstepplanner is able to generate feasible footsteps within 5 milliseconds, and thecontroller is able to generate a new corresponding swing leg trajectory as wellas the wholebody motion to dynamically balance the robot to the newly updatedfootsteps. The proposed perception-control pipeline is evaluated anddemonstrated with real experiments using a fullscale humanoid to traverseacross uneven terrains featured by static stepping stones, dynamically movablestepping stone, or narrow path.

Dynamic Humanoid Locomotion over Uneven Terrain With Streamlined Perception-Control Pipeline