A versatile and efficient pattern generator for generalized legged locomotion

J. Carpentier, S. Tonneau, M. Naveau, O. Stasse, N. Mansard

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


This paper presents a generic and efficient approach to generate dynamically consistent motions for under-actuated systems like humanoid or quadruped robots. The main contribution is a walking pattern generator, able to compute a stable trajectory of the center of mass of the robot along with the angular momentum, for any given configuration of contacts (e.g. on uneven, sloppy or slippery terrain, or with closed-gripper). Unlike existing methods, our solver is fast enough to be applied as a model-predictive controller. We then integrate this pattern generator in a complete framework: an acyclic contact planner is first used to automatically compute the contact sequence from a 3D model of the environment and a desired final posture; a stable walking pattern is then computed by the proposed solver; a dynamically-stable whole-body trajectory is finally obtained using a second-order hierarchical inverse kinematics. The implementation of the whole pipeline is fast enough to plan a step while the previous one is executed. The interest of the method is demonstrated by real experiments on the HRP-2 robot, by performing long-step walking and climbing a staircase with handrail support.
Original languageEnglish
Title of host publication2016 IEEE International Conference on Robotics and Automation (ICRA)
Number of pages7
Publication statusPublished - 1 May 2016
Event2016 IEEE International Conference on Robotics and Automation - Stockholm, Sweden
Duration: 16 May 201621 May 2016


Conference2016 IEEE International Conference on Robotics and Automation
Abbreviated titleICRA 2016
Internet address


  • humanoid robots
  • kinematics
  • legged locomotion
  • predictive control
  • trajectory control
  • generalized legged locomotion
  • under-actuated systems
  • humanoid
  • quadruped robots
  • walking pattern generator
  • stable trajectory
  • angular momentum
  • model predictive controller
  • acyclic contact planner
  • contact sequence
  • 3D model
  • stable walking pattern
  • dynamically-stable whole-body trajectory
  • second-order hierarchical inverse kinematics
  • handrail support
  • Trajectory
  • Legged locomotion
  • Computational modeling
  • Humanoid robots
  • Generators
  • Optimal control


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