Gaits of humanoids

uvs051018_001

Description

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


Entries:
A Voice Controlled Image Recognition System
9th Internacional Conference on Climbing and Walking Robots (Clawar 2006), Brussels, Belgium
M. Arbulu D. Kaynov C. Perez L.M. Cabas P. Staroverov

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