Definition of a Walking with Starting and Stopping Motions for the Humanoid Romeo

A. Kalouguine, V. de-León-Gómez, C. Chevallereau, S. Dalibard, Y. Aoustin

2020

Abstract

The aim of this paper is to develop a complete walking with a starting, periodic and stopping motion for a 3D humanoid robot with n actuated variables. The dynamic behaviour of the center of mass of the humanoid robot is defined by a model called Essential model. The ZMP is imposed, the horizontal position of the CoM is free. The n − 2 other generalized variables of the humanoid robot are controlled and their trajectories can be for example chosen as a sinusoidal function of time. The gait parameters are determined based on data obtained from human walking. Numerical tests are presented for a complete walking motion. The perspectives are to test the obtained trajectories experimentally.

Paper Citation

in Harvard Style

Kalouguine A., de-León-Gómez V., Chevallereau C., Dalibard S. and Aoustin Y. (2020). Definition of a Walking with Starting and Stopping Motions for the Humanoid Romeo.In Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-758-442-8, pages 47-55. DOI: 10.5220/0009827000470055

in Bibtex Style

@conference{icinco20,
author={A. Kalouguine and V. de-León-Gómez and C. Chevallereau and S. Dalibard and Y. Aoustin},
title={Definition of a Walking with Starting and Stopping Motions for the Humanoid Romeo},
booktitle={Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2020},
pages={47-55},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0009827000470055},
isbn={978-989-758-442-8},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 17th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Definition of a Walking with Starting and Stopping Motions for the Humanoid Romeo
SN - 978-989-758-442-8
AU - Kalouguine A.
AU - de-León-Gómez V.
AU - Chevallereau C.
AU - Dalibard S.
AU - Aoustin Y.
PY - 2020
SP - 47
EP - 55
DO - 10.5220/0009827000470055