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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:
Real-Time Gait Planning for Rh-1 Humanoid Robot Using Local Axis Gait Algorithm
International Journal of Humanoid Robotics. Print ISSN: 0219-8436. Online ISSN: 1793-6942. num. 1 , vol. 6 , pages: 71 – 91 , 2009
M. Arbulu
The Rh-1 full-size humanoid robot: design, walking pattern generation and control
Journal of Applied Bionics and Biomechanics (Print ISSN: 1176-2322, Online: ISSN: 1754-2103). num. 3 , vol. 6 , pages: 301 – 344 , 2009
M. Arbulu D. Kaynov L.M. Cabas

Entries:
Aiming for multibody dynamics on stable humanoid motion with Special Euclideans groups, called SE(3) (Accepted)
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), Taipei, Taiwan
M. Arbulu S. Martinez A. Jardon C.A. Monje
Aiming for Multibody Dynamics on Stable Humanoid Motion with Special Euclidean Groups
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS’2010, 2010, Taipei, China
M. Arbulu S. Martinez A. Jardon C.A. Monje
Optimal gait synthesis of biped robot pasibot using artificial intelligence based predictive control
12th International Conference on Climbing and Walking Robots (Clawar'09), Istanbul,
J.G. Quijano A. Jardon
Realización de tareas colaborativas entre robots humanoides. Experimentación con dos robots Robonova
5º Workshop Robocity 2030: Cooperación en Robótica, 2009, Madrid,
M. González-Fierro D. Herrero P. Pierro A. Jardon
K., Yokoi, A., Kheddar, C., Balaguer<br>Dynamic acyclic motion from a planar contact-stance to another
IEEE/RSJ 2008 International Conference on Intelligent Robots and Systems, Nice, France
M. Arbulu
Control de la caminata del robot humanoide RH-1
XXIX Jornadas de Automática, Tarragona, Spain
M. Arbulu D. Kaynov L.A. Pabon P. Pierro C. Perez P. Staroverov C.A. Monje
Real -Time gait planning for Rh-1 humanoid robot, using Local Axis Gait algorithm
IEEE-RAS International Conference on Humanoid Robots (Humanoids'2007), Pittsburg-Pensi, USA
M. Arbulu
Trends of new robotics platform, designing Humanoid Robot Rh-1
CARS & FOF 0723rd ISPE International Conference on CAD/CAM Robotics and Factories of the Future, 2007, Bogota, Colombia
M. Arbulu D. Kaynov L.M. Cabas P. Staroverov
Nuevas tendencias en plataformas de robótica, caso robot humanoide Rh-1
Intercon 2007XIV Congreso Internacional de Ingeniería Eléctrica, Electrónica y Sistemas, 2007, Piura, Peru
M. Arbulu D. Kaynov L.M. Cabas P. Staroverov
Foot planning motion of humanoid robot Rh-1 using Lag algorithm
Clawar 2007, 2007, Singapore, Singapore
M. Arbulu D. Kaynov L.M. Cabas P. Staroverov
Rh-0 humanoid full size robot`s control strategy based on the Lie logic technique
IEEE-RAS International Conference on Humanoid Robots (Humanoids'2005), 2005, Tsukuba, Japan
M. Arbulu D. Kaynov J. M. Pardos-Gotor P. Staroverov
Rh-0 Humanoid Robot Bipedal Locomotion and Navigation Using Lie Groups and Geometric Algorithms
International Conference on Intelligent Robots and Systems (IROS'2005), Edmonton, Canada
J. M. Pardos-Gotor
Inverse Dynamics of Humanoid Robot by Balanced Mass Distribution Method
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2004), 2004, Sendai, Japan
M. Arbulu
User friendly graphical environment for gait optimization of the humanoid robot Rh-0
7tn International Conference on Climbing and Walking Robots (Clawar'2004), 2004, Madrid, Spain
M. Arbulu P. Staroverov
Humanoid Robot Kinematics Modeling Using Lie Groups
7th International Conference on Climbing and Walking Robots (Clawar'2004), Madrid, Spain
J. M. Pardos-Gotor
Fast algorithm for kinematics problems solving of the low-cost legged robot LEROI
Clawar 2002, 2002, Paris, France
M. Arbulu P. Staroverov

Entries:
Three axis tactile sensor SENSOR TÁCTIL DE TRES EJES
ref: P200901904. 2009
S. Martinez C. Perez A. Jardon

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