AUTONOMOUS GAIT PATTERN FOR A DYNAMIC BIPED WALKING

Christophe Sabourin, Kurosh Madani, Olivier Bruneau

2006

Abstract

In this paper, we propose an autonomous gait pattern for a dynamic biped walking. Our approach 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. Furthermore, this approach allows increasing the robustness of the walking robot regarding the forwards pushed force.

Paper Citation

in Harvard Style

Sabourin C., Madani K. and Bruneau O. (2006). AUTONOMOUS GAIT PATTERN FOR A DYNAMIC BIPED WALKING . In Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-60-3, pages 26-33. DOI: 10.5220/0001203000260033

in Bibtex Style

@conference{icinco06,
author={Christophe Sabourin and Kurosh Madani and Olivier Bruneau},
title={AUTONOMOUS GAIT PATTERN FOR A DYNAMIC BIPED WALKING},
booktitle={Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2006},
pages={26-33},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001203000260033},
isbn={978-972-8865-60-3},
}

in EndNote Style

TY - CONF
JO - Proceedings of the Third International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - AUTONOMOUS GAIT PATTERN FOR A DYNAMIC BIPED WALKING
SN - 978-972-8865-60-3
AU - Sabourin C.
AU - Madani K.
AU - Bruneau O.
PY - 2006
SP - 26
EP - 33
DO - 10.5220/0001203000260033