Control of humanoid Robots: Real-time application to a human squat-like motion

David Galdeano 1
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : A human-based control strategy is proposed for walking of humanoid robots. Its basic idea lies in the control of the CoM as well as the relative position of robot's feet. Through the proposed study, it is shown that this reduced set of data allows to fully describe and reproduce a whole body human-like walking. In addition of reducing the number of controlled variables, the proposed control strategy has the advantage of not requiring a complete walking cycle decomposition due to its continuous character.
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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00982362
Contributor : David Galdeano <>
Submitted on : Wednesday, April 23, 2014 - 5:00:42 PM
Last modification on : Thursday, May 24, 2018 - 3:59:24 PM

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  • HAL Id : lirmm-00982362, version 1

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David Galdeano. Control of humanoid Robots: Real-time application to a human squat-like motion. EuroMov inaugural conference - HEALTH IN MOTION, Jun 2013, Montpellier, France. ⟨lirmm-00982362⟩

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