Partial Human Data in Design of Human-Like Walking Control in Humanoid RoboticsReport as inadecuate




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* Corresponding author 1 IDH - Interactive Digital Humans LIRMM - Laboratoire d-Informatique de Robotique et de Microélectronique de Montpellier 2 LIRMM - Laboratoire d-Informatique de Robotique et de Microélectronique de Montpellier 3 DEMAR - Artificial movement and gait restoration LIRMM - Laboratoire d-Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée 4 DEXTER - Conception et commande de robots pour la manipulation LIRMM - Laboratoire d-Informatique de Robotique et de Microélectronique de Montpellier

Abstract : In this paper a human-based control strategy is proposed for walking of humanoid robots. Its basic idea lies in the control of the CoM as well as the relative position of robot-s feet. Through the proposed study, it is shown that this reduced set of data allows to fully describe and reproduce a whole body human-like walking. In addition of reducing the number of controlled variables, the proposed control strategy has the advantage of not requiring a complete walking cycle decomposition due to its continuous character. Simulations results are presented to show the e®ectiveness of the proposed control scheme.

Keywords : Walking control Human motion capture Humanoid robotics





Author: David Galdeano - Vincent Bonnet - Moussâb Bennehar - Philippe Fraisse - Ahmed Chemori -

Source: https://hal.archives-ouvertes.fr/



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