Adrien Pajon

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We devised a new walking pattern generator based on a minimization of the energy consumption that offers the necessary parameters to be used in flexible sole design problems. This pattern generator is implemented in two sets of experiments implying the HRP-2 humanoid robot: walking with different weighting between (i) the center of mass forces, and (ii)(More)
We study the effect of soft (i.e. compliant) soles in humanoid walking. Adding compliance at the foot sole is important for shock absorption during touchdown and to better cast the ground roughness. But, subsequent deformation needs to be considered in the attitude stabilization. We propose a sole deformation estimator used in the controller design, to(More)
When unexpected stiffness changes of the ground surface occur while walking, the central nervous system needs to apply appropriate control actions to assure dynamic stability. Many studies in the motor control field have investigated the mechanisms of such a postural control and have widely described how centre of mass trajectories, step patterns and muscle(More)
In order to control more efficiently the feet–ground interaction of humanoid robots during walking, we investigate adding outer soft (i.e. compliant) soles to the feet. The deformation subsequent to the contact of the soles with the ground is taken into account using a new walking pattern generator and deformation estimator. This novel humanoid walking(More)
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