Humanoid Locomotion
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We present a system in which a human master commands in a natural way the locomotion of a humanoid slave agent in a virtual or real world. The system combines a sensorized passive locomotion platform (Cyberith Virtualizer) for the walking human, the V-REP simulation environment, an Aldebaran Nao...
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We consider the problem of generating a gait with no a priori assigned footsteps while taking into account the contribution of the swinging leg to the total Zero Moment Point (ZMP). This is achieved by considering a multi-mass model of the humanoid and distinguishing between secondary masses with...
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The Newton-Euler equations that govern multi-body systems are not
integrable in general. However, they become so in the pendular mode, a
specific way of moving where conservation of the angular momentum is
enforced. This property was successfully showcased for locomotion over...