HAL TEI export of lirmm-00804250 CCSD CC0 1.0 - Universal

HAL API Platform

 Optimal Pattern Generator For Dynamic Walking in humanoid Robotics David Galdeano a371733338416ffac9f703a15750d6d3 lirmm.fr 927741 648412-927741 Ahmed Chemori 74b6f68c6a48612ba485722fe4b1fb72 lirmm.fr ahmed-chemori 20304 40690-20304 https://orcid.org/0000-0001-9739-9473 https://scholar.google.fr/citations?user=EQP56YEAAAAJ&hl=en https://www.idref.fr/099234815 http://isni.org/isni/0000000356712122 https://viaf.org/viaf/188561408 Sébastien Krut 31b5ef2ef71de8f717880af2519114cf lirmm.fr krut 3383 17628-3383 https://orcid.org/0000-0003-2396-8244 https://www.idref.fr/079213324 Philippe Fraisse 452b4e9a1bc5f8359b960e3c46d5f5e9 lirmm.fr philippe-fraisse 173014 13595-173014 https://orcid.org/0000-0003-0911-0743 https://www.idref.fr/050516590 David Galdeano fbeb089a1ab9fed87da8c7303d5fb4dd gmail.com Project ANR R2A2 2013-03-25 11:33:21 2013-03 2023-03-24 14:52:56 2013-04-08 14:29:49 2013-03-18 2013-03-25 contributor David Galdeano fbeb089a1ab9fed87da8c7303d5fb4dd gmail.com CCSD lirmm-00804250 https://hal-lirmm.ccsd.cnrs.fr/lirmm-00804250 galdeano:lirmm-00804250 <i>SSD: Systems, Signals and Devices</i>, Mar 2013, Hammamet, Tunisia. <a target="_blank" href="https://dx.doi.org/10.1109/SSD.2013.6564107">&#x27E8;10.1109/SSD.2013.6564107&#x27E9;</a> SSD: Systems, Signals and Devices, Mar 2013, Hammamet, Tunisia. &#x27E8;10.1109/SSD.2013.6564107&#x27E9; HAL Authorization CNRS - Centre national de la recherche scientifique Conception et commande de robots pour la manipulation Interactive Digital Humans Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes Mathématiques, Informatique, Physique et Systèmes Université de Montpellier Ahmed Chemori Test DEXTER ANR Université de Montpellier (2015-2021) International No No Yes Yes Optimal Pattern Generator For Dynamic Walking in humanoid Robotics David Galdeano a371733338416ffac9f703a15750d6d3 lirmm.fr 927741 648412-927741 Ahmed Chemori 74b6f68c6a48612ba485722fe4b1fb72 lirmm.fr ahmed-chemori 20304 40690-20304 https://orcid.org/0000-0001-9739-9473 https://scholar.google.fr/citations?user=EQP56YEAAAAJ&hl=en https://www.idref.fr/099234815 http://isni.org/isni/0000000356712122 https://viaf.org/viaf/188561408 Sébastien Krut 31b5ef2ef71de8f717880af2519114cf lirmm.fr krut 3383 17628-3383 https://orcid.org/0000-0003-2396-8244 https://www.idref.fr/079213324 Philippe Fraisse 452b4e9a1bc5f8359b960e3c46d5f5e9 lirmm.fr philippe-fraisse 173014 13595-173014 https://orcid.org/0000-0003-0911-0743 https://www.idref.fr/050516590 10th International Multi-Conference on Systems, Signals and Devices SSD: Systems, Signals and Devices 2013-03-18 2013-03-21 Hammamet Tunisia IEEE 1 2013-03-18 10.1109/SSD.2013.6564107 http://www.ssd-conf.org/ssd13/index.php?site=index&conf=SAC English Legged locomotion Optimization Trajectory Stability criteria Foot Engineering Sciences [physics]/Automatic Conference papers Conference papers Conference papers

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.

 Interactive Digital Humans IDH 2021-12-31
LIRMM, 161 rue Ada, 34000 Montpellier
https://www.lirmm.fr/equipes/IDH/ Robotique médicale et mécanismes parallèles DEXTER 2021-12-31
LIRMM, 161 rue Ada, 34000 Montpellier
https://www.lirmm.fr/equipes/DEXTER/ 139590827 0000000405990488 199111950H https://ror.org/013yean28 Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier LIRMM 1995-01-01 2021-12-31
161 rue Ada - 34095 Montpellier
https://www.lirmm.fr 0000000120970141 https://ror.org/051escj72 Université de Montpellier UM 2021-12-31
163 rue Auguste Broussonnet - 34090 Montpellier
http://www.umontpellier.fr/ 02636817X 0000000122597504 https://ror.org/02feahw73 Centre National de la Recherche Scientifique CNRS 1939-10-19
https://www.cnrs.fr/ ANR-09-SEGI-0011 Systèmes embarqués et grandes infrastructures R2A2 Robot humanoïde hydRaulique: Amélioration de l'Autonomie énergétique via la conception et la commande. 2009