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Conference Papers Year : 2019

Human gait simulation from a reduced set of low-dimensional tasks using hierarchical control

Melya Boukheddimi
Philippe Souères
Bruno Watier

Abstract

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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Dates and versions

hal-02147549 , version 1 (14-06-2019)

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Melya Boukheddimi, François Bailly, Philippe Souères, Bruno Watier. Human gait simulation from a reduced set of low-dimensional tasks using hierarchical control. 44 congrès de la société de biomécanique, l’Université de Poitiers et le CHU de Poitiers., Oct 2019, Poitiers, France. ⟨10.1080/10255842.2020.1714962⟩. ⟨hal-02147549⟩
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