Gait generation via the Foot Placement Estimator for 3D bipedal robots

Safwan Choudhury, Dana Kulic

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

8 Citations (Scopus)


This paper proposes a trajectory generation and control strategy for generating stable gait subject to unknown disturbances, based on the concept of the Foot Placement Estimator (FPE). While most walking control strategies in the field of bipedal locomotion aim to constantly maintain balance, the Foot Placement Estimator (FPE) estimates where the foot must be placed in order to restore balance. One of the key novelties of the FPE approach is its natural extension to form complete gait cycles using a state machine and simple proportional-derivative controllers. In this paper, the FPE control strategy is extended from 2D to 3D robots, and demonstrated in simulation on a 14-DOF lower body bipedal robot.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Robotics and Automation, ICRA 2013
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages7
ISBN (Print)9781467356411
Publication statusPublished - 14 Nov 2013
Externally publishedYes
EventIEEE International Conference on Robotics and Automation 2013 - Karlsruhe, Germany
Duration: 6 May 201310 May 2013 (Proceedings)

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729


ConferenceIEEE International Conference on Robotics and Automation 2013
Abbreviated titleICRA 2013
Internet address


  • Bipedal Locomotion
  • Foot Placement
  • Gait Synthesis

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