Optimal Pattern Generator For Dynamic Walking in humanoid Robotics

David Galdeano 1, * Ahmed Chemori 2 Sébastien Krut 2 Philippe Fraisse 1
* Corresponding author
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper deals with an optimal ZMP based pattern generator for stable dynamic walking. The proposed method is based on a Three-Mass Linear Inverted Pendulum Model (3MLIPM), used as a simplified dynamics of the biped robot. The 3MLIPM simplifies the biped robot as a three point masses and two-link system. A ZMP based criterion is then used in an optimization problem whose solution gives the best values of the model's parameters w.r.t. dynamic walking stability. Numerical simulations are presented to show the effectiveness of the proposed optimal pattern generator.
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Submitted on : Monday, March 25, 2013 - 11:33:21 AM
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David Galdeano, Ahmed Chemori, Sébastien Krut, Philippe Fraisse. Optimal Pattern Generator For Dynamic Walking in humanoid Robotics. SSD: Systems, Signals and Devices, Mar 2013, Hammamet, Tunisia. ⟨10.1109/SSD.2013.6564107⟩. ⟨lirmm-00804250⟩

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