David Tlalolini

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Fast human walking includes a phase where the stance heel rises from the ground and the stance foot rotates about the stance toe. This phase where the biped becomes under-actuated is not present during the walk of humanoid robots. The objective of this study is to determine if this phase is useful to reduce the energy consumed in the walking. In order to(More)
An algorithm of parametric optimization to achieve optimal cyclic gaits in space for a thirteen-link 3D bipedal robot with twelve actuated joints is proposed. The cyclic walking gait is composed of successive single support phases and impulsive impacts with full contact between the sole of the feet and the ground. The evolution of the joints are chosen as(More)
Fast human walking includes a phase where the stance heel rises from the ground and the stance foot rotates about the stance toe. This phase where the biped becomes underactuated is not present during the walk of humanoid robots. The objective of this study is to determine if the introduction of this phase for a 3D biped robot is useful to reduce the energy(More)
The development of an algorithm to achieve optimal cyclic gaits in space for a thirteen-link biped and twelve actuated joints is proposed. The cyclic walking gait is composed of successive single support phases and impulsive impacts with full contact between the sole of the feet and the ground. The evolution of the joints are chosen as spline functions. The(More)
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