Optimal pattern generator for dynamic walking in humanoid robotics

Galdeano, David; Chemori, Ahmed; Krut, Sébastien; Fraisse, Philippe

doi:10.1109/ssd.2013.6564107

Cited by 9 publications

(1 citation statement)

References 15 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…These robots have been usually controlled by classic paradigms such as the zero-moment point (ZMP), a well-known method for the synthesis of prescribed joint trajectories by means of continuous tracking of stable footground contact (Vukobratović1975, Vukobratović and Borovac 2004). This approach demonstrated good stability in vast range of condition (Kaneko et al 2008, Galdeano and Chemori 2013, Yu et al 2014. Nevertheless, several functional and topological shortcomings can be observed, such as unnatural motions, high-energy costs, high computational demands, dependence on dynamic model, and rigidity.…”

Section: Bipedal Robots Locomotionmentioning

confidence: 99%

Human-like compliant locomotion: state of the art of robotic implementations

et al. 2016

View full text Add to dashboard Cite

This review paper provides a synthetic yet critical overview of the key biomechanical principles of human bipedal walking and their current implementation in robotic platforms. We describe the functional role of human joints, addressing in particular the relevance of the compliant properties of the different degrees of freedom throughout the gait cycle. We focused on three basic functional units involved in locomotion, i.e. the ankle-foot complex, the knee, and the hip-pelvis complex, and their relevance to whole-body performance. We present an extensive review of the current implementations of these mechanisms into robotic platforms, discussing their potentialities and limitations from the functional and energetic perspectives. We specifically targeted humanoid robots, but also revised evidence from the field of lower-limb prosthetics, which presents innovative solutions still unexploited in the current humanoids. Finally, we identified the main critical aspects of the process of translating human principles into actual machines, providing a number of relevant challenges that should be addressed in future research.

show abstract

Section: Bipedal Robots Locomotionmentioning

confidence: 99%