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Gaits of humanoids

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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:
Algorithm for the evaluation of imperfections in auto bodywork using profiles from a retroreflective image
Sensors. num. 2 , vol. 14 , pages: 2476 – 2488 , 2014
R. Barber M.A. Salichs V. Zwilling
Diseño y simulación de un actuador de rigidez variable
Anales de Ingeniería Mecánica: Revista de la Asociación Española de Ingeniería Mecánica; ISSN: 0212-5072. num. 18 , vol. 1 , pages: 154 – 161 , 2012
A. Gimenez A. Jardon López, J. García, D.
sEMG-Based Gesture Classifier for a Rehabilitation Glove
Frontiers in Neurorobotics. , vol. 16 , 2022
D. Copaci J. Arias L. Moreno D. Blanco M. Gómez-Tomé
Efficiency analysis of SMA-based actuators: Possibilities of configuration according to the application
Actuators. num. 3 , vol. 10 , pages: 63 – , 2021
J. Arias D. Copaci D. Serrano L. Moreno D. Blanco
Flexible shape memory alloy actuators for soft robotics: Modelling and control
International Journal of Advanced Robotic Systems . num. 1 , vol. 17 , pages: 1 – 15 , 2020
D. Copaci D. Blanco L. Moreno A. Martín-Clemente
Flexible shape-memory alloy-based actuator: Mechanical design optimization according to application
Actuators. num. 3 , vol. 8 , 2019
D. Copaci D. Blanco L. Moreno
Two-stage shape memory alloy identification based on the Hammerstein – Wiener model
Frontiers in Robotics and AI. num. 83 , vol. 6 , 2019
D. Copaci L. Moreno D. Blanco
Hand exo-muscular system for assisting astronauts during extravehicular activities
Soft Robotics. num. 1 , vol. 6 , pages: 21 – 37 , 2019
D. Blanco A. Villoslada C. Rivera N. Escudero F. Martín-Monar

Entries:
Smooth and Accurate control of multiple Shape Memory Alloys based actuators via low cost embedded hardware.
IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS 2012, Vilamoura, Portugal
A. Flores D. Copaci D. Blanco L. Moreno
Lightweight Magnetorheological Based Clutch Actuator for quick response times
13th International Conference on New Actuators & 7th Exhibition on Samrt Actuators and Drive Systems., Bremen, Germany
A. Flores D. Copaci D. Blanco L. Moreno
Diseño de un controlador PID en NXT OSEK para el autoequilibrado de un robot sobre dos ruedas
II Congreso de Actividades Académicamente Dirigidas (CAADE 2011), Cordoba, Spain

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