Publications (2)0 Total impact
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Conference Proceeding: Planning approach and local reactivity for 3D Operational space control of 3D bipedal robots with flexible feet
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ABSTRACT: This paper presents an approach to control gaits of humanoid bipedal robots in operational space without reference trajectories. This control strategy is based on the planning of the sequential events during the walking process. The aim of this study is to propose a new control strategy which is more reactive, permits a precise coordination of both legs during the double stance phase and the generation of dynamic 3D walking of an anthropomorphic biped with flexible feet. Based on homogeneous transformation matrices, the control strategy integrates three aspects in one unified representation: structural parameters of the robot, measurements given by sensors, planning of the sequential events during the different stages of the walk.Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on; 11/2009 -
Conference Proceeding: Homogeneous matric approach for the operational space control of bipedal robots with flexible feet
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ABSTRACT: This paper presents a new approach to control gaits of humanoid bipedal robots in the operational space. This strategy based on the homogeneous transformation matrices integrates, in a unified representation, the structural aspects of the robot, the reference trajectories based on motion capture, the measures given by the robot sensors, the locomotion constraints and the high-level control using desired trajectories modified at each sample time. This approach is applied on a biped with flexible feet walking with an average speed equal to 1.2 m/s.Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on; 06/2008
