Toward Intelligent Biped-Humanoids Gaits Generation

  title={Toward Intelligent Biped-Humanoids Gaits Generation},
  author={Nizar Rokbani and Boudour Ammar and Adel M. Alimi},
In this chapter we will highlight our experimental studies on natural human walking analysis and introduce a biologically inspired design for simple bipedal locomotion system of humanoid robots. Inspiration comes directly from human walking analysis and human muscles mechanism and control. A hybrid algorithm for walking gaits generation is then proposed as an innovative alternative to classically used kinematics and dynamic equations solving, the gaits include knee, ankle and hip trajectories… 

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