Generation of Walk Transient Trajectories for a Biped Robot

Abstract

We want to control an anthropomorphic biped robot to make it walk in its environment. For this purpose, we need complete walk trajectories. We start with cyclic trajectories obtained with motion capture on a human. Then we want to generate transient trajectories with a fast on-line method, in order to complete cyclic trajectories provided by motion capture. We thus use a method based on cubic polynomials. We apply this method on a human walk trajectory, to compute start and stop trajectories for the robot.

BibTeX entry

@InProceedings{FGE99,
  author = 	 {L. France and A. Girault and B. Espiau},
  title = 	 {Generation of Walk Transient Trajectories for a Biped Robot},
  booktitle = 	 {International Conference on Advanced Robotics, ICAR'99},
  year =	 {1999},
  address =	 {Tokyo, Japan},
  month =	 {October}
}