A new human-like walking for the humanoid robot Romeo
This paper seeks to define the anthropomorphic walking motion for the humanoid robot Romeo . The main characteristics of the lower and upper limb motions of the human being during walking are adapted to Romeo taking into account its kinematics and its motor power. The proposed walking includes start...
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| Veröffentlicht in: | Multibody system dynamics 2021-12, Vol.53 (4), p.411-434 |
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| creator | Kalouguine, A. De-León-Gómez, V. Chevallereau, C. Dalibard, S. Aoustin, Y. |
| description | This paper seeks to define the anthropomorphic walking motion for the humanoid robot
Romeo
. The main characteristics of the lower and upper limb motions of the human being during walking are adapted to
Romeo
taking into account its kinematics and its motor power. The proposed walking includes starting, periodic and stopping motions. A boundary value problem is stated and solved to define each of these three movements, which are composed of single and double support phases. The trajectory of the zero moment point (
ZMP
) is explicitly defined as a function of time. Thanks to the
Essential model
, the two horizontal coordinates of the center of mass (
CoM
) are adapted to the desired
ZMP
trajectory and joint movements of
Romeo
. Numerical results show the efficiency of our strategy to design human-like walking for
Romeo
. |
| doi_str_mv | 10.1007/s11044-021-09805-w |
| format | Article |
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Romeo
. The main characteristics of the lower and upper limb motions of the human being during walking are adapted to
Romeo
taking into account its kinematics and its motor power. The proposed walking includes starting, periodic and stopping motions. A boundary value problem is stated and solved to define each of these three movements, which are composed of single and double support phases. The trajectory of the zero moment point (
ZMP
) is explicitly defined as a function of time. Thanks to the
Essential model
, the two horizontal coordinates of the center of mass (
CoM
) are adapted to the desired
ZMP
trajectory and joint movements of
Romeo
. Numerical results show the efficiency of our strategy to design human-like walking for
Romeo
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Romeo
. The main characteristics of the lower and upper limb motions of the human being during walking are adapted to
Romeo
taking into account its kinematics and its motor power. The proposed walking includes starting, periodic and stopping motions. A boundary value problem is stated and solved to define each of these three movements, which are composed of single and double support phases. The trajectory of the zero moment point (
ZMP
) is explicitly defined as a function of time. Thanks to the
Essential model
, the two horizontal coordinates of the center of mass (
CoM
) are adapted to the desired
ZMP
trajectory and joint movements of
Romeo
. Numerical results show the efficiency of our strategy to design human-like walking for
Romeo
.</description><subject>Automatic</subject><subject>Automotive Engineering</subject><subject>Boundary value problems</subject><subject>Computer Science</subject><subject>Control</subject><subject>Dynamical Systems</subject><subject>Electrical Engineering</subject><subject>Engineering</subject><subject>Engineering Sciences</subject><subject>Humanoid</subject><subject>Kinematics</subject><subject>Mechanical Engineering</subject><subject>Optimization</subject><subject>Robot dynamics</subject><subject>Robotics</subject><subject>Vibration</subject><subject>Walking</subject><issn>1384-5640</issn><issn>1573-272X</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2021</creationdate><recordtype>article</recordtype><recordid>eNp9kF9LwzAUxYMoOKdfwKeATz5E8z_N4xjqhIEgCr6FtE3Xbl0zk87itzezom8-3cu9v3M4HAAuCb4hGKvbSAjmHGFKENYZFmg4AhMiFENU0bfjtLOMIyE5PgVnMa5xIgXXEyBmsHMDrPdb26G22Tg42HbTdCtY-QD72o0v35Qw-Nz38NlvnT8HJ5Vto7v4mVPwen_3Ml-g5dPD43y2RAXTqkcuo5bmuXZMSUptmSvOS6IzbXPpqHCaFTzFrbSwslIJlEWhVZ6VpKSF0oxNwfXoW9vW7EKzteHTeNuYxWxpDjfMJNOcqA-S2KuR3QX_vnexN2u_D12KZ6jQmRSZUDxRdKSK4GMMrvq1JdgcqjRjlSYVZL6rNEMSsVEUE9ytXPiz_kf1Baq1dR4</recordid><startdate>20211201</startdate><enddate>20211201</enddate><creator>Kalouguine, A.</creator><creator>De-León-Gómez, V.</creator><creator>Chevallereau, C.</creator><creator>Dalibard, S.</creator><creator>Aoustin, Y.</creator><general>Springer Netherlands</general><general>Springer Nature B.V</general><general>Springer Verlag</general><scope>AAYXX</scope><scope>CITATION</scope><scope>1XC</scope><scope>VOOES</scope><orcidid>https://orcid.org/0000-0002-3484-117X</orcidid><orcidid>https://orcid.org/0000-0001-9495-8364</orcidid><orcidid>https://orcid.org/0000-0002-1929-5211</orcidid></search><sort><creationdate>20211201</creationdate><title>A new human-like walking for the humanoid robot Romeo</title><author>Kalouguine, A. ; De-León-Gómez, V. ; Chevallereau, C. ; Dalibard, S. ; Aoustin, Y.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c397t-e82a2bb9e37622adb744d1989ab6e25e93c4098f95a6f7bb96cc97b8d1d2c7933</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2021</creationdate><topic>Automatic</topic><topic>Automotive Engineering</topic><topic>Boundary value problems</topic><topic>Computer Science</topic><topic>Control</topic><topic>Dynamical Systems</topic><topic>Electrical Engineering</topic><topic>Engineering</topic><topic>Engineering Sciences</topic><topic>Humanoid</topic><topic>Kinematics</topic><topic>Mechanical Engineering</topic><topic>Optimization</topic><topic>Robot dynamics</topic><topic>Robotics</topic><topic>Vibration</topic><topic>Walking</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Kalouguine, A.</creatorcontrib><creatorcontrib>De-León-Gómez, V.</creatorcontrib><creatorcontrib>Chevallereau, C.</creatorcontrib><creatorcontrib>Dalibard, S.</creatorcontrib><creatorcontrib>Aoustin, Y.</creatorcontrib><collection>CrossRef</collection><collection>Hyper Article en Ligne (HAL)</collection><collection>Hyper Article en Ligne (HAL) (Open Access)</collection><jtitle>Multibody system dynamics</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext</fulltext></delivery><addata><au>Kalouguine, A.</au><au>De-León-Gómez, V.</au><au>Chevallereau, C.</au><au>Dalibard, S.</au><au>Aoustin, Y.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>A new human-like walking for the humanoid robot Romeo</atitle><jtitle>Multibody system dynamics</jtitle><stitle>Multibody Syst Dyn</stitle><date>2021-12-01</date><risdate>2021</risdate><volume>53</volume><issue>4</issue><spage>411</spage><epage>434</epage><pages>411-434</pages><issn>1384-5640</issn><eissn>1573-272X</eissn><abstract>This paper seeks to define the anthropomorphic walking motion for the humanoid robot
Romeo
. The main characteristics of the lower and upper limb motions of the human being during walking are adapted to
Romeo
taking into account its kinematics and its motor power. The proposed walking includes starting, periodic and stopping motions. A boundary value problem is stated and solved to define each of these three movements, which are composed of single and double support phases. The trajectory of the zero moment point (
ZMP
) is explicitly defined as a function of time. Thanks to the
Essential model
, the two horizontal coordinates of the center of mass (
CoM
) are adapted to the desired
ZMP
trajectory and joint movements of
Romeo
. Numerical results show the efficiency of our strategy to design human-like walking for
Romeo
.</abstract><cop>Dordrecht</cop><pub>Springer Netherlands</pub><doi>10.1007/s11044-021-09805-w</doi><tpages>24</tpages><orcidid>https://orcid.org/0000-0002-3484-117X</orcidid><orcidid>https://orcid.org/0000-0001-9495-8364</orcidid><orcidid>https://orcid.org/0000-0002-1929-5211</orcidid><oa>free_for_read</oa></addata></record> |
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| issn | 1384-5640 1573-272X |
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| source | SpringerNature Journals |
| subjects | Automatic Automotive Engineering Boundary value problems Computer Science Control Dynamical Systems Electrical Engineering Engineering Engineering Sciences Humanoid Kinematics Mechanical Engineering Optimization Robot dynamics Robotics Vibration Walking |
| title | A new human-like walking for the humanoid robot Romeo |
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