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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:
Flexible Field Factory for Construction Industry
Assembly Automation. num. 2 , vol. 33 , pages: 175 – 183 , 2013
S. Martinez A. Jardon Juan G. Victores
Building industrialization: robotized assembly of modular products
Assembly Automation- Emerald Group Publishing Ltd . num. 2 , vol. 28 , pages: 134 – 142 , 2008
S. Martinez A. Jardon
A mechatronics security system for the construction site
Automation in Construction. num. 4 , vol. 14 , pages: 461 – 467 , 2005
M. Abderrahim
FutureHome: An integrated construction automation approach
IEEE Robotics & Automation magazine. num. 1 , vol. 9 , pages: 55 – 66 , 2002
M. Abderrahim
Robotics and automation in construction
IEEE Robotics & Automation magazine. num. 1 , vol. 9 , pages: 4 – 6 , 2002
C. Balaguer M. Abderrahim
Computer-aided architectural design oriented to robotized facade panels manufacturing
Computer Aided Civil and Infrastructure Engineering. num. 3 , vol. 16 , pages: 216 – 227 , 2001
Robot assembly system for computer-integrated construction
Automation in Construction. num. 5 , vol. 9 , pages: 479 – 487 , 2000

Entries:
Robotics and Automation in Construction industry: From hard to soft robotics
3rd IARP Workshop on Service, Assistive and Personal Robots, Madrid, Spain
EU FutureHome project results Lugar de celebración: (Holanda)
20th International Symposium on Robotics and Automation in Construction (ISARC?2003), Eindhoven, The Netherlands
The design and Development of an Automatic Construction Crane
18th IAARC/IFAC/IEEE International Symposium on Automation and Robotics in Construction (ISARC2001), 2001, Warsaw, Poland
V.M. Padron A. Gimenez S. Garrido M. Abderrahim
Título del artículo: Design of a gripping system for the automated assembly of large building
17th International Symposium on Automation and Robotics in Construction (ISARC?00), Taipei, Taiwan
M. Abderrahim
Open issues and future possibilities in the EU construction
17th International Symposium on Automation and Robotics in Construction (ISARC?00), Taipei, Taiwan
A robotic system for automated masonry
16th International Symposium on Automation and Robotics in Construction (ISARC?99), Madrid, Spain
A robotic system for block assembly in construction
2nd IARP Workshop on Service and Personal Robots, Genoa, Italy
Hierarchical control architecture for large range robots with static deflection
5th IFAC Symposium on Robot Control (SYROCO?97), Nants, France
Computer-aided methodology for design of robots in construction industry applications
14th International Symposium on Automation and Robotics in Construction (ISARC?97), Pittsburgh, USA
Robot assembly system for the construction process automation
IEEE International Conference on Robotics and Automation (ICRA?97), Albuquerque, USA
M. Rivero

Entries:
Robotics and Automation in Construction
IN-TEH , ISBN: 978-953-7619-13, 2008
M. Abderrahim

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