Parametric-based dynamic synthesis of 3d-gait

Authors:
Guy Bessonnet;Jérôme Marot;Pascal Seguin;Philippe Sardain
Affiliations:
Laboratoire de mécanique des solides, cnrs-umr6610, université de poitiers, sp2mi, bd. m. & p. curie, bp 30179, 86962 futuroscope chasseneuil cedex, france;Laboratoire de mécanique des solides, cnrs-umr6610, université de poitiers, sp2mi, bd. m. & p. curie, bp 30179, 86962 futuroscope chasseneuil cedex, france;Laboratoire de mécanique des solides, cnrs-umr6610, université de poitiers, sp2mi, bd. m. & p. curie, bp 30179, 86962 futuroscope chasseneuil cedex, france;Laboratoire de mécanique des solides, cnrs-umr6610, université de poitiers, sp2mi, bd. m. & p. curie, bp 30179, 86962 futuroscope chasseneuil cedex, france
Venue:
Robotica
Year:
2010

Citing 10
Cited 2

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International Journal of Robotics Research
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Practical methods for optimal control using nonlinear programming
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A framework for the analysis and synthesis of 3d dynamic human gait

Robotica
Predictive simulation of human walking transitions using an optimization formulation

Structural and Multidisciplinary Optimization

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Abstract

This paper describes a dynamic synthesis method for generating optimal walking patterns of biped robots having a human-like locomotion system. The generating principle of gait is based on the minimisation of driving torques. A parametric optimisation technique is used to solve the underlying optimal control problem. Special attention is devoted to foot-ground interactions in order to ensure a steady dynamic balance of the biped. Transition states between step sub-phases are fully optimised together with step length and sub-phase lengths with respect to a given walking velocity. The data needed to generate purely cyclic steps can be reduced to the forward velocity.