A Jacobian Method for Online Modification of Precalculated Gait Trajectories

In this paper an online posture modification method termed Jacobi Compensation is proposed, which modifies precalculated step trajectories for a humanoid robot in certain task coordinate directions. This method can accomodate for modeling errors in trajectory precalculation in that for instance the center of mass (CoM) or certain parts of the humanoid mechanism can be shifted to increase walking stability and performance. The efficacy of the concept is shown in simulations with a simplified model and walking experiments with a humanoid robot.

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