Title :
Dynamic walk simulation of various bipeds via ankle trajectory
Author :
Bruneau, O. ; Ouezdou, F.B.
Author_Institution :
Lab. de Robotique de Paris, CNRS, Velizy, France
Abstract :
This paper deals with an approach to carry out the dynamic walk of anthropomorphic bipeds. At first, the way to reproduce a reference walking cycle for a standard biped is proposed. Secondly, the foot/ground interaction model is exposed. A set of elementary transformations is then described to modify the locomotion parameters allowing us to obtain various walking gaits for bipeds having different sizes and weights. Some simulation results are finally given
Keywords :
legged locomotion; ankle trajectory; anthropomorphic bipeds; bipeds; dynamic walk simulation; foot/ground interaction model; locomotion parameter modification; reference walking cycle reproduction; Anthropomorphism; Computational geometry; Foot; Leg; Legged locomotion; Process control; Process design; Robot kinematics; Robust control; Robust stability;
Conference_Titel :
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location :
Victoria, BC
Print_ISBN :
0-7803-4465-0
DOI :
10.1109/IROS.1998.724596
