Modular Architecture for Humanoid Walking Pattern Prototyping and Experiments

In this paper we describe the use of design patterns as a basis for creating humanoid walking pattern generator software having a modular architecture. This architecture enabled the rapid porting of several novel walking algorithms on a full-size humanoid robot, HRP-2. The body of work currently available allows extracting a general software architecture usable with inter-exchange between simulations and real experiments. The proposed architecture with the associated design patterns is described together with several applications: a pattern generator for a HRP-2 with passive toe joints, a pattern for dynamically stepping over large obstacles and a new quadratic problem (QP) formulation for the generation of the reference zero-momentum point. Thanks to the versatility and the modularity of the proposed framework, the QP method has been implemented and experienced within 4 days only.