Gaits of humanoids
Updated: 19 December 2014 - 11:59am by C. Balaguer
The research in stable walking of humanoid robots is in general non-solved problem. Our research deals with the implementation of stable gait on 12 DOF Rh-0 and Rh-1 bipedal locomotion system.
Otherwise, a generic gait was developed and implemented successfully, in the HRP-2 humanoid robot. It is called "Acyclic Gait". This gait consists in make the dynamic transition between two statically stable stages. The results have been presented in the IROS '08 (M. Arbulu et. al.). You could see some tests:

Videos of Acyclic motion

Fig.1 Two Acyclic steps forward

Fig.2 One Acyclic step backward

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