Human gait simulation from a reduced set of low-dimensional tasks using hierarchical control
Résumé
In this paper, we propose to use the hierarchical tasks framework used in humanoid robotics for simulating the human gait from a reduced set of ordered tasks. We simulated human gait with a whole-body model using hierarchical control, and compared the simulated motion with experimental data obtained from a motion capture system. We hypothesized that the control of a reduced set of low-dimensional key tasks could lead to closely reproduce the human gait.
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