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Dynamic Control of Walking Cycle with Initiation Process for Humanoid Robot

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Abstract

This paper focuses on numerical method to solve the dynamic equilibrium of a humanoid robot during the walking cycle with the gait initiation process. It is based on a multi-chain strategy and a dynamic control/command architecture previously developed by Gorce. The strategy is based on correction of the trunk center of mass acceleration and force distribution of the forces exerced by the limbs on the trunk. This latter is performed by mean of a Linear Programming (LP) method. We study the gait initiation process when a subject, initially in quiet erect stance posture, performs a walking cycle. In this paper, we propose to adjust the method for the multiphases (from double support to single support) and multicriteria features of the studied movement. This is done by adapting some specific constraints and criteria in order to ensure the global stability of the humanoid robot along the task execution. For that, we use a Real-Time Criteria and Constraints Adaptation method. Simulation results are presented to demonstrate criteria and constraints influences on the dynamic stability.

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Authors and Affiliations

  1. U483 INSERM, 9 avenue de la division Leclerc, 94234, Cachan (or 9 quai St Bernard, Université Pierre et Marie Curie, 75252 Paris cedex)

    Philippe Gorce & Farid El Hafi

  2. ETSI Industriales, Universidad Politecnica de Cartagena, Campus muralla del mar, 30203, Cartagena, Spain

    Juan Lopez Coronado

Authors
  1. Philippe Gorce
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  2. Farid El Hafi
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  3. Juan Lopez Coronado
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Gorce, P., El Hafi, F. & Coronado, J.L. Dynamic Control of Walking Cycle with Initiation Process for Humanoid Robot. Journal of Intelligent and Robotic Systems 31, 321–337 (2001). https://doi.org/10.1023/A:1012079012244

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  • DOI: https://doi.org/10.1023/A:1012079012244