Parameters adaptation of motion primitives for achieving more efficient humanoid walk

This paper deals with the problem of non synchronicity during the on-line realization of humanoid walk synthesized by combining and tying motion primitives. Motion primitives are simple and parameterized movements. For realization of the on-line modifiable walk, relationship is established between the gait characteristics and the pa-rameters of the primitives. The parameters of the primitives for basic walk were determined empirically, so the problem appeared of non synchronization of the primitives that are executed in parallel. In order to reduce the non synchronicity effects, the algorithm for adaptation of the primitive parameters is introduced. The improved parameters of the primitives allowed the realization of a more efficient walk.