MINES ParisTech CAS - Centre automatique et systèmes

SYNCHRONIZATION AND STABILIZATION OF BIPEDAL WALKING

Séance du jeudi 29 mars 2018, Salle L224, 11h00-12h00.

Christine CHEVALLEREAU, IRCCYN, Nantes, CNRS

Walking on flat ground is essentially a periodic phenomenon. The objective of this presentation is to highlight the main characteristics of a gait that can naturally induce stability in walking (stability in the sense of convergence towards periodic motion). For a robot moving in one plane, the importance of vertical oscillations on stability for a robot controlled via a virtual constraint approach (i.e. without time reference) was shown several years ago. In the case of a robot evolving in 3D with a movement in the frontal and sagittal planes, we will show that the synchronization between these 2 movements depends on the conditions chosen for the support foot changes and we will propose conditions to generate stable control law for a very simplified model of robot (3D LIP). These results will be extended to stability conditions by integrating either a robot speed measurement or vertical oscillations into the approach. We will then show how these results can be extended to realistic models of humanoid robots.
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