Autonomous Gait Pattern for a Dynamic Biped Walking

C. Sabourin 1 K. Madani 1 O. Bruneau
1 SYNAPSE
LISSI - Laboratoire Images, Signaux et Systèmes Intelligents
Abstract : In this paper, we propose an autonomous gait pattern for a dynamic biped walking based on a soft-computing approach. Our control strategy takes simultaneously advantage from a Fuzzy-CMAC based computation of robot’s swing leg’s desired trajectory and a high level control strategy allowing regulating the robot’s average velocity. The main interest of this approach is to proffer to the walking robot autonomy and adaptability involving only one parameter: the average velocity. We present results about transition of velocities and we show that the presented control strategy allows to increase robustness of the walking robot according to perturbation forces.
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Chapitre d'ouvrage
J. Andrade Cetto and J-l. Ferrier and J. M. Pereira and J. Filipe. Informatics in Control Automation and Robotics, Lecture Notes in Electrical Engineering Series, vol. 15, Springer, pp.123-140, 2008, 〈10.1007/978-3-540-79142-3_11〉
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https://hal.archives-ouvertes.fr/hal-01680162
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Soumis le : mercredi 10 janvier 2018 - 13:42:31
Dernière modification le : lundi 18 février 2019 - 17:55:07

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C. Sabourin, K. Madani, O. Bruneau. Autonomous Gait Pattern for a Dynamic Biped Walking. J. Andrade Cetto and J-l. Ferrier and J. M. Pereira and J. Filipe. Informatics in Control Automation and Robotics, Lecture Notes in Electrical Engineering Series, vol. 15, Springer, pp.123-140, 2008, 〈10.1007/978-3-540-79142-3_11〉. 〈hal-01680162〉

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