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Article Dans Une Revue Frontiers in Robotics and AI Année : 2018

Benchmarking the HRP-2 humanoid robot during locomotion

Résumé

In this paper we report results from a campaign of measurement in a laboratory allowing to put a humanoid robot HRP-2 in a controlled environment. We have investigated the effect of temperature variations on the robot capabilities to walk. In order to benchmark various motions modalities and algorithms we computed a set of performance indicators for bipedal locomotion. The scope of the algorithms for motion generation evaluated here is rather large as it spans analytical solutions to numerical optimization approaches able to realize real-time walking or multi-contacts.
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Dates et versions

hal-02001008 , version 1 (06-02-2019)

Identifiants

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Olivier Stasse, Kevin Giraud-Esclasse, Edouard Brousse, Maximilien Naveau, Rémi Régnier, et al.. Benchmarking the HRP-2 humanoid robot during locomotion. Frontiers in Robotics and AI, 2018, 5, ⟨10.3389/frobt.2018.00122⟩. ⟨hal-02001008⟩
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