Definition of a Walking with starting and stopping motions for the Humanoid Romeo

A Kalouguine (1, 2) , V De-León-Gómez , Christine Chevallereau (1, 2) , S Dalibard (3) , Y Aoustin (1, 2)

1 LS2N - équipe ReV - Robotique Et Vivant
2 LS2N - Laboratoire des Sciences du Numérique de Nantes
3 SoftBank Robotics Europe

The aim of this paper is to develop a complete walking with a starting, periodic and stopping motion for a 3D humanoid robot with n actuated variables. The dynamic behaviour of the center of mass of the humanoid robot is defined by a model called Essential model. The ZMP is imposed, the horizontal position of the CoM is free. The n − 2 other generalized variables of the humanoid robot are controlled and their trajectories can be for example chosen as a sinusoidal function of time. The gait parameters are determined based on data obtained from human walking. Numerical tests are presented for a complete walking motion. The perspectives are to test the obtained trajectories experimentally.

Mots clés: Humanoid robot; Starting motion; Stopping motion; Center of mass; Zero moment point; Essential model

Domaines: Robotique [cs.RO]

A Kalouguine, V De-León-Gómez, Christine Chevallereau, S Dalibard, Y Aoustin. Definition of a Walking with starting and stopping motions for the Humanoid Romeo. 17th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2020), Jul 2020, Paris (on line), France. ⟨hal-03021974⟩