Overview of Gait Synthesis for the Humanoid COMAN

Chengxu Zhou, Xin Wang, Zhibin Li, Nikos Tsagarakis
<span title="">2017</span> <i title="Springer Nature"> <a target="_blank" rel="noopener" href="https://fatcat.wiki/container/amghozmm3vf4dbxus4sjlu2cby" style="color: black;">Journal of Bionic Engineering</a> </i> &nbsp;
This paper presents the development of a generic gait synthesis for the humanoid robot COMAN. Based on the essential Gait Pattern Generator, the proposed synthesis offers enhanced versatilities of bipedal locomotion for different tasks and also provides the data storage and communication mechanisms among different modules. As an outcome, we are able to augment new abilities for COMAN by integrating new control modules and software tools at a cost of a very few modifications. Moreover, the
more &raquo; ... ated foot placement optimization in the Gait Pattern Generator optimizes the referential gait parameters in order to comply with the natural dynamics and kinematics of the robot, which improves the robustness of the implementation on real robots. We have also presented a practical approach to generate pelvis motion from CoM references using a simplified three-point-mass model, as well as a straightforward and effective state estimation using the sensory feedback. Three types of real experiments were studied in an increasing complexity to demonstrate the effectiveness and successful implementation of the proposed gait synthesis on a real humanoid.
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