A kinodynamic steering-method for legged multi-contact locomotion

P. Fernbach, S. Tonneau, A. Del Prete, M. Taïx

Research output: Chapter in Book/Report/Conference proceedingConference contribution


We present a novel method for synthesizing collision-free, dynamic locomotion behaviors for legged robots, including jumping, going down a very steep slope, or recovering from a push using the arms of the robot. The approach is automatic and generic: non-gaited motions, comprising arbitrary contact postures can be generated along any environment. At the core of our framework is a new steering method that generates trajectories connecting two states of the robot. These trajectories account for the state-dependent, centroidal dynamic constraints inherent to legged robots. The method, of low dimension, formulated as a Linear Program, is really efficient to compute, and can find an application in various problems related to legged locomotion. By incorporating this steering method into an existing sampling-based contact planner, we propose the first kinodynamic contact planner for legged robots.
Original languageEnglish
Title of host publication2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Place of PublicationVancouver, BC, Canada
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages7
ISBN (Electronic)978-1-5386-2682-5, 978-1-5386-2681-8
ISBN (Print)978-1-5386-2683-2
Publication statusPublished - 1 Sep 2017
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems - Vancouver, Canada
Duration: 24 Sep 201728 Sep 2017

Publication series

ISSN (Electronic)2153-0866


Conference2017 IEEE/RSJ International Conference on Intelligent Robots and Systems
Abbreviated titleIROS 2017
Internet address


  • legged locomotion
  • linear programming
  • motion control
  • path planning
  • robot dynamics
  • robot kinematics
  • sampling methods
  • trajectory control
  • kinodynamic steering-method
  • legged multicontact locomotion
  • dynamic locomotion behaviors
  • legged robots
  • arbitrary contact postures
  • steering method
  • centroidal dynamic constraints
  • kinodynamic contact planner
  • trajectory generation
  • sampling-based contact planner
  • generic: nongaited motions
  • Linear Program
  • Trajectory
  • Acceleration
  • Legged locomotion
  • Dynamics
  • Collision avoidance
  • Planning


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