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—In the area of biped robot research, much progress has been made in the past few years. However, some difficulties remain to be dealt with, particularly about the implementation of fast and dynamic walking gaits, in other words anthropomorphic gaits, especially on uneven terrain. In this perspective, both concepts of center of pressure (CoP) and zero(More)
Walking pattern synthesis is carried out using a spline-based para-metric optimization technique. Generalized coordinates are approximated by spline functions of class C 3 fitted at knots uniformly distributed along the motion time. This high-order differentiability eliminates jerky variations of actuating torques. Through connecting conditions, spline(More)
In this paper, we carry out the dynamics-based optimization of sagit-tal gait cycles of a planar seven-link biped using the Pontryagin maximum principle. Special attention is devoted to the double-support phase of the gait, during which the movement is subjected to severe limiting conditions. In particular, due to the fact that the biped moves as a closed(More)
Control in robotics needs more and more precise models of the mechanical parts of the structure and specially for a complex system such as a biped robot. An important but difficult aspect of this work is the modeling of the mechanical loss due to friction in the chain of transmission from the motor to the axis. Each part losses are defined as a sum of three(More)
—The anthropomorphic biped robot Bip is equipped with sensors for measuring the ground/feet forces in order to localize the center of pressure (CoP) and zero moment point (ZMP). This paper focuses on experimental results regarding the evolution of the ground contact forces, obtained from a human walker wearing the robot feet as shoes. First, one determines(More)