Dynamic walk of a bipedal robot having flexible feet

Bruneau, Olivier; Ouezdou, Fethi Ben; Fontaine, Jean‐Guy

doi:10.1109/iros.2001.973408

Cited by 18 publications

(13 citation statements)

References 4 publications

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“…From (15), we find the tangential component of the contact space displacement: (18) where t is the tangential vector, P (q−1) α is the node position in absolute frame at the previous time step and q is the current time step. In case of a node already in contact at q − 1, the contact reference point is the previous node position P (q−1) α .…”

Section: Coulomb's Lawmentioning

confidence: 99%

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Design of optimized soft soles for humanoid robots

Magistris

Miossec

Escande

et al. 2017

Robotics and Autonomous Systems

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We describe a methodology to design foot soles for a humanoid robot given walking gait parameters (i.e. given centerof-mass and zero-moment-point trajectories). In order to obtain an optimized compliant sole, we devised a shape optimization framework which takes -among other inputs, an initial rough (simplified) shape of the sole and refines it through successive optimization steps under additional constraints and a cost function. The shape is optimized based on the simulation of the sole deformation during an entire walking step, taking time dependent input of the walking pattern generator into account. Our shape optimization framework is able to minimize the impact of the foot with the ground during the heel-strike phase and to limit foot rotation in case of perturbations. Indeed, low foot rotation enforces a vertical posture and secures the balance of the humanoid robot. Moreover, weight restriction (formulated as a constraint on the sole volume) is added to our optimization problem.

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Section: Coulomb's Lawmentioning

confidence: 99%

“…For this reason, a dedicated software-compensator is necessary to stabilize the walking [16,17]. Bruneau et al [18] explain the difficulty in modeling and controlling these flexibilities.…”

Section: Introductionmentioning

confidence: 99%

Design of optimized soft soles for humanoid robots

Magistris

Miossec

Escande

et al. 2017

Robotics and Autonomous Systems

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“…One common solution is to add flexible mechanisms at the robot ankles [2,3] that also protect the feet embedded force sensors. Unfortunately, such compliant mechanisms also act as passive joints whose deformations are hardly measurable [4]. In this way, the robot attitude is difficult to control, especially in complex maneuvers [5].…”

Section: Introductionmentioning

confidence: 99%

Optimized humanoid walking with soft soles

Magistris

Pajon

Miossec

et al. 2017

Robotics and Autonomous Systems

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In order to control more efficiently the feet-ground interaction of humanoid robots during walking, we investigate adding outer soft (i.e. compliant) soles to the feet. The deformation subsequent to the contact of the soles with the ground is taken into account using a new walking pattern generator and deformation estimator. This novel humanoid walking approach ensures that the desired zero moment point for stability requirement is fulfilled. We validate our new controller using the HRP-4 humanoid robot performing walking experiments with and without the estimator. Also, to test the robustness of our approach and to obtain low-energy walking, we performed different walking motions.

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“…Bruneau et. al proposes a foot combined from four rigid bodies linked by flexible-joints [1] and claimed the difficulty in using finite-element method for modeling these flexibilities. The feet are composed of four bodies, related by three rotary joints with torsion springdampers.…”

Section: Introductionmentioning

confidence: 99%

“…Unlike the compliant elements described in [5], our compliant sole is not present only to absorb impacts but the robot must also be able to walk with it. Depending on its design, it can also be helpful for walking, as explained, for example, in [1] [6]. Furthermore, external shock-absorbing mechanisms that were previously introduced are not modeled analytically, whereas here we propose to integrate the analytical model of our sole in the simulator presented in [7] [8].…”

Section: Introductionmentioning

confidence: 99%

Study of an external passive shock-absorbing mechanism for walking robots

David¹,

Chardonnet

Kheddar

et al. 2008

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots

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Abstract-This paper proposes a compliant sole as an external shock-absorbing mechanism and investigates its effect comparatively to an ankle-located joint-flexible mechanism. The proposed mechanism is mounted under the HRP-2 humanoid feet only using simulation. The comparative evaluation has been conducted for contact resulting from walking using the HRP-2 embedded pattern-generator. The characteristics of the sole material, Young and Poisson coefficients, are set following an adhoc minimization of their influence on the vertical acceleration and lateral inclination. Preliminary results suggest that the solution proposed is worth to be considered further and to be developed for real application use.

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Dynamic walk of a bipedal robot having flexible feet

Cited by 18 publications

References 4 publications

Design of optimized soft soles for humanoid robots

Design of optimized soft soles for humanoid robots

Optimized humanoid walking with soft soles

Study of an external passive shock-absorbing mechanism for walking robots

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