Stephane Caron: Pendular models for walking over rough terrains
The Newton-Euler equations that govern multi-body systems are not
integrable in general. However, they become so in the pendular mode, a
specific way of moving where conservation of the angular momentum is
enforced. This property was successfully showcased for locomotion over
horizontal floors (2D locomotion) by walking-pattern generators based on
the LIPM and CART-table models. In this talk, we will see how to
generalize these two models to 3D locomotion while taking into account
both friction and tilted contacts, resulting into the FIP (3D version of
LIPM) and COM-accel (3D version of CART-table) models. We will
demonstrate both approaches in live simulations with the HRP-4 humanoid
model.
Biography
Stéphane Caron is a researcher in humanoid locomotion in the IDH group
at CNRS-University of Montpellier LIRMM (France). An alumni of the École
Normale Supérieure (ENS Paris), he stayed at the Technicolor Lab., Palo
Alto (California), before joining the Nakamura Lab. to undergo his
doctoral studies. He received the Ph.D. in Mechano-Informatics from the
University of Tokyo (Japan) in 2016, with a thesis on multi-contact
motion planning for humanoid robots. His research interests include
contact interaction, numerical optimization and predictive control, all
related to the broader field of humanoid locomotion.