In this paper, a task based whole-body control strategy is proposed for humanoid robots. Its basic idea lies in the control of (i) the CoM with a ZMP regulation, (ii) the relative pose of robot's feet and (iii) joint's limit avoidance. Through the proposed study, it is shown that these tasks allow to produce smooth whole-body motions. Real-time experimentation results are presented to show the effectiveness of the proposed control scheme.

International audienceIn 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

Abstract-This paper deals with an optimal ZMP based pattern generator for stable dynamic walking. The proposed method is based on a Three-Mass Linear Inverted Pendulum Model (3MLIPM), used as a simplified dynamics of the biped robot. The 3MLIPM simplifies the biped robot as a three point masses and two-link system. A ZMP based criterion is then used in an optimization problem whose solution gives the best values of the model's parameters w.r.t. dynamic walking stability. Numerical simulations are presented to show the effectiveness of the proposed optimal pattern generator.

Abstract-This paper deals with an optimal ZMP based pattern generator for stable dynamic walking. The proposed method is based on a Three-Mass Linear Inverted Pendulum Model (3MLIPM), used as a simplified dynamics of the biped robot. The 3MLIPM simplifies the biped robot as a three point masses and two-link system. A ZMP based criterion is then used in an optimization problem whose solution gives the best values of the model's parameters w.r.t. dynamic walking stability. Numerical simulations are presented to show the effectiveness of the proposed optimal pattern generator.