AUTONOMOUS GAIT PATTERN FOR A DYNAMIC BIPED WALKING

Christophe Sabourin, Kurosh Madani, Olivier Bruneau

Abstract

In this paper, we propose an autonomous gait pattern for a dynamic biped walking. Our approach takes simultaneously advantage from a Fuzzy-CMAC based computation of robot’s swing leg’s desired trajectory and a high level control strategy allowing regulating the robot’s average velocity. The main interest of this approach is to proffer to the walking robot autonomy and adaptability involving only one parameter: the average velocity. Furthermore, this approach allows increasing the robustness of the walking robot regarding the forwards pushed force.

References

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Paper Citation


in Harvard Style

Sabourin C., Madani K. and Bruneau O. (2006). AUTONOMOUS GAIT PATTERN FOR A DYNAMIC BIPED WALKING . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 26-33. DOI: 10.5220/0001203000260033


in Bibtex Style

@conference{icinco06,
author={Christophe Sabourin and Kurosh Madani and Olivier Bruneau},
title={AUTONOMOUS GAIT PATTERN FOR A DYNAMIC BIPED WALKING},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={26-33},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001203000260033},
isbn={978-972-8865-60-3},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - AUTONOMOUS GAIT PATTERN FOR A DYNAMIC BIPED WALKING
SN - 978-972-8865-60-3
AU - Sabourin C.
AU - Madani K.
AU - Bruneau O.
PY - 2006
SP - 26
EP - 33
DO - 10.5220/0001203000260033