Philippe Sardain

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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 moment(More)
Walking pattern synthesis is carried out using a spline-based parametric optimization technique. Generalized coordinates are approximated by spline functions of class C3 fitted at knots uniformly distributed along the motion time. This high-order differentiability eliminates jerky variations of actuating torques. Through connecting conditions, spline(More)
This paper describes the progress of the BIP2000 project. This project, in which four laboratories are involved fo r 4 years, as uimed at the realization of the lower part of a n anthropomorphic biped robot. The project couers mechanical design, control studies and computer architecture integration. The robot includes two legs, two feet, a pelvis and U(More)
In this paper, we carry out the dynamics-based optimization of sagittal 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)
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)
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)