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Conference Papers Year : 2019

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.
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Dates and versions

hal-02455162 , version 1 (25-01-2020)

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Melya Boukheddimi, François Bailly, Philippe Souères, Bruno Watier. Human-like gait generation from a reduced set of tasks using the hierarchical control framework from robotics. IEEE International Conference on Robotics and Biomimetics (ROBIO 2019), Dec 2019, Dali, China. pp.2683-2688, ⟨10.1109/ROBIO49542.2019.8961426⟩. ⟨hal-02455162⟩
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