AUTONOMOUS GAIT PATTERN FOR A DYNAMIC BIPED WALKING

Christophe Sabourin; Kurosh Madani; Olivier Bruneau

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Paper

AUTONOMOUS GAIT PATTERN FOR A DYNAMIC BIPED WALKING

Topics: Mobile Robots and Autonomous Systems; Robot Design, Development and Control

In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 26-33, 2006 , Setúbal, Portugal

Authors: Christophe Sabourin ¹ ; Kurosh Madani ¹ and Olivier Bruneau ²

Affiliations: ¹ Université Paris-XII, IUT de Sénart, France ; ² Laboratoire Vision et Robotique - Ecole Nationale Supérieure d’Ingénieurs de Bourges, France

Keyword(s): Autonomous gait pattern, biped dynamic walking, Fuzzy-CMAC neural networks.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Robot Design, Development and Control ; Robotics and Automation

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.

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Paper citation in several formats:

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 1: ICINCO; ISBN 978-972-8865-60-3; ISSN 2184-2809, SciTePress, pages 26-33. DOI: 10.5220/0001203000260033

@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 1: ICINCO},
year={2006},
pages={26-33},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001203000260033},
isbn={978-972-8865-60-3},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - AUTONOMOUS GAIT PATTERN FOR A DYNAMIC BIPED WALKING
SN - 978-972-8865-60-3
IS - 2184-2809
AU - Sabourin, C.
AU - Madani, K.
AU - Bruneau, O.
PY - 2006
SP - 26
EP - 33
DO - 10.5220/0001203000260033
PB - SciTePress