Name
Title | ||
|---|---|---|
Human-like gait generation from a reduced set of tasks using the hierarchical control framework from robotics. |
Abstract | ||
|---|---|---|
This paper shows that controlling only a small set of adequately selected tasks is sufficient to closely reproduce the human gait kinematics. To this aim, a hierarchical controller is applied to a whole-body model including 42 degrees of freedom with 3 hierarchical tasks. The analysis of the simulated gaits shows the emergence of significant human-like properties in walking. In order to validate our results, a comparison between joint rotations in the simulated motion and in human reference motions is conducted. Finally, a discussion is given to illustrate the interest of the approach in view of related works. |
Year | DOI | Venue |
|---|---|---|
2019 | 10.1109/ROBIO49542.2019.8961426 | ROBIO |
Field | DocType | Citations |
Control theory,Kinematics,Gait,Control engineering,Artificial intelligence,Gait (human),Engineering,Small set,Robotics,Humanoid robot | Conference | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Melya Boukheddimi | 1 | 0 | 0.34 |
| François Bailly | 2 | 0 | 0.34 |
| Philippe Souères | 3 | 0 | 0.34 |
| Bruno Watier | 4 | 0 | 2.03 |