Autonomous Gait Pattern for a Dynamic Biped Walking

C. Sabourin (1) , K. K. Madani (1) , O. Bruneau

1 SYNAPSE

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.

Mots clés: Autonomous gait pattern; Biped dynamic walking; Fuzzy-CMAC neural networks

Domaines: Vision par ordinateur et reconnaissance de formes [cs.CV]

C. Sabourin, K. 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⟩