Footstep and Timing Adaptation for Humanoid Robots Utilizing Pre-computation of Capture Regions

This study proposes a real-time footstep and timing adaptation mechanism for humanoid robots that can be integrated into a conventional walking pattern generator and increase the robustness of walking against disturbances. In order to meet the strict real-time constraint of humanoid robot control, the proposed method computes viable capture basins in the design phase. This pre-computed data can be used at runtime to modify the foot placement, the timing of landing, and the center-of-mass movement in response to applied disturbances with small computation cost. The performance of the proposed method is evaluated in simulation experiments.