Historical Perspective of Humanoid Robot Research in Europe

Aoustin, Yannick; Chevallereau, Christine; Laumond, Jean–Paul

doi:10.1007/978-94-007-7194-9_144-1

Humanoid Robotics: A Reference 2017

DOI: 10.1007/978-94-007-7194-9_144-1

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Historical Perspective of Humanoid Robot Research in Europe

Yannick Aoustin

Christine Chevallereau

Jean–Paul Laumond

Abstract: From the very first humanoid automation designed by Leonardo da Vinci in 1495 to Pyrène-a fully force control humanoid robot-designed for research purpose in 2016, this chapter discusses the contributions of Europe in humanoid robot research and development. It is organized around the presentation of the main

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2022

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“…The linear inverted pendulum (LIP) is a very popular and efficient tool to design the walking of humanoid robots [17][18][19]. The LIP model [20] assumes that the mass of the humanoid robot is concentrated as a punctual mass in its centre of gravity at a constant altitude.…”

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A self‐stabilised walking gait for humanoid robots based on the essential model with internal states

Chevallereau

Luo

Pang³

et al. 2022

IET Cyber-Syst and Robotics

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Walking stability is one of the key issues for humanoid robots. A self‐stabilised walking gait for a full dynamic model of humanoid robots is proposed. For simplified models, that is, the linear inverted pendulum model and variable‐length inverted pendulum model, self‐stabilisation of walking gait can be obtained if virtual constraints are properly defined. This result is extended to the full dynamic model of humanoid robots by using an essential dynamic model, which is developed based on the zero dynamics concept. With the proposed method, a robust stable walking for a humanoid robot is achieved by adjusting the step timing and landing position of the swing foot automatically, following its intrinsic dynamic characteristics. This exempts the robot from the time‐consuming high‐level control approaches, especially when a full dynamic model is applied. How different walking patterns/features (i.e., the swing foot motion, the vertical centre of mass motion, the switching manifold configuration, etc.) affect the stability of the walking gait is analysed. Simulations are conducted on robots Romeo and TALOS to support the results.

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mentioning

confidence: 99%

A self‐stabilised walking gait for humanoid robots based on the essential model with internal states

Chevallereau

Luo

Pang³

et al. 2022

IET Cyber-Syst and Robotics

Self Cite

View full text Add to dashboard Cite

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Historical Perspective of Humanoid Robot Research in Europe

Cited by 1 publication

References 54 publications

A self‐stabilised walking gait for humanoid robots based on the essential model with internal states

A self‐stabilised walking gait for humanoid robots based on the essential model with internal states

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