Authors:
A. Kalouguine
1
;
V. de-León-Gómez
2
;
C. Chevallereau
2
;
S. Dalibard
3
and
Y. Aoustin
2
Affiliations:
1
Laboratoire des Sciences du Numérique de Nantes, CNRS UMR 6004, Ecole Centrale de Nantes, Université de Nantes, France, SoftBank Robotics, 43, Rue du Colonel Pierre Avia, 75015, Paris, France
;
2
Laboratoire des Sciences du Numérique de Nantes, CNRS UMR 6004, Ecole Centrale de Nantes, Université de Nantes, France
;
3
SoftBank Robotics, 43, Rue du Colonel Pierre Avia, 75015, Paris, France
Keyword(s):
Humanoid Robot, Starting Motion, Stopping Motion, Center of Mass, Zero Moment Point, Essential Model.
Abstract:
The aim of this paper is to develop a complete walking with a starting, periodic and stopping motion for a 3D humanoid robot with n actuated variables. The dynamic behaviour of the center of mass of the humanoid robot is defined by a model called Essential model. The ZMP is imposed, the horizontal position of the CoM is free. The n − 2 other generalized variables of the humanoid robot are controlled and their trajectories can be for example chosen as a sinusoidal function of time. The gait parameters are determined based on data obtained from human walking. Numerical tests are presented for a complete walking motion. The perspectives are to test the obtained trajectories experimentally.