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Gaits of humanoids

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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:
User Localization During Human-Robot Interaction
Sensors. num. 7 , vol. 12 , pages: 9913 – 9935 , 2012
F. Alonso Javi F. Gorostiza M. Malfaz M.A. Salichs
Integration of a voice recognition system in a social robot
Cybernetics and Systems: An International Journal (Online). num. 4 , vol. 42 , pages: 215 – 245 , 2011
F. Alonso M.A. Salichs
End-User Programming of a Social Robot by Dialog
Robotics and Autonomous Systems. (Online). num. 12 , vol. 59 , pages: 1102 – 1114 , 2011
Javi F. Gorostiza M.A. Salichs

Entries:
Preliminary Experiments on HRI for improvement the Robotic DialogSystem (RDS)
Robocity2030 11th Workshop: Robots Sociales, 2013, Leganés, España
F. Alonso Javi F. Gorostiza M.A. Salichs
Musical Expression in a Social Robot
Proceedings of the 2012 International IEEE Intelligent Vehicles Symposium. Workshops V Perception in Robotics, Alcalá de Hena, Spain
F. Alonso Javi F. Gorostiza M.A. Salichs

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