International Journal of Robotics Research
An anthropomorphic biped robot: dynamic concepts and technological design
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
A Parametric Optimization Approach to Walking Pattern Synthesis
International Journal of Robotics Research
Generating human-like soccer primitives from human data
Robotics and Autonomous Systems
Using Toe-Off Impulse to Control Chaos in the Simplest Walking Model via Artificial Neural Network
ISNN 2009 Proceedings of the 6th International Symposium on Neural Networks: Advances in Neural Networks - Part III
A further result on the optimal harmonic gait for locomotion of mechanical rectifier systems
ACC'09 Proceedings of the 2009 conference on American Control Conference
Modeling, stability and control of biped robots-a general framework
Automatica (Journal of IFAC)
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The paper is aimed at generating optimal gait cycles in the sagittal plane of a biped, the locomotion system of which has anthropomorphic characteristics. Both single and double support phases are globally optimised, considering incompletely specified transition postural configurations from one phase to the other. An impactless heel-touch is prescribed. Full dynamic models are developed for both gait phases. They are completed by specific constraints attached to the unilaterality of contact with the supporting ground.A parametric optimisation method is implemented. The biped joint coordinates are approximated by cubic splines functions connected at uniformly distributed knots along the motion time. The finite set of unknowns consists of the joint coordinate values at knots, some gait pattern parameters at phase transitions, and the motion time of each phase. The step length is adjusted to the prescribed gait speed by the optimisation process. Numerical simulations concerning slow and fast optimal gaits are presented and discussed.