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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)
Initial contact (IC) and toe off (TO) times are essential measurements in the analysis of temporal gait parameters, especially in cerebral palsy (CP) gait analysis. A new gait event detection algorithm, called the high pass algorithm (HPA) has been developed and is discussed in this paper. Kinematics of markers on the heel and metatarsal are used. Their(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)
Associating musculoskeletal models to motion analysis data enables the determination of the muscular lengths, lengthening rates and moment arms of the muscles during the studied movement. Therefore, those models must be anatomically personalized and able to identify realistic muscular paths. Different kinds of algorithms exist to achieve this last issue,(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)