A Synthesis of Bipedal Locomotion in Human and Robots

Christine Azevedo Coste; Bernard Amblard; Bernard Espiau; Christine Assaiante

inria-00000107, version 2

A Synthesis of Bipedal Locomotion in Human and Robots

Christine Azevedo Coste ( Author to contact preferably , ) ^1, 2, Bernard Amblard ³, Bernard Espiau ()^a^, 1, Christine Assaiante () ³

N° Rapport de Recherche INRIA RR-5450 (2004)

Abstract: This report is the result of a joint reflection carried out by researchers from automatic control and neuroscience fields, both trying to answer a same question: what are the functional basis of bipedal locomotion and how to control them? The originality of this work is to put in parallel two synthesis of how the problem of biped displacements is solved in robotics in one hand and in nature in the other hand. We believe that the key e lements explaining the performances in adaptability and reactivity of human could help roboticians to find some issues for the design of automatic control schemes. Similarly, the theoretical framework of biped robotics could help neuroscientists to formulate concepts and models.

a – INRIA Rhône-Alpes
1: DEMAR (INRIA Sophia Antipolis)
INRIA – CNRS : UMR5506 – Université Montpellier II - Sciences et techniques – Université Montpellier I
2: Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM)
CNRS : UMR5506 – Université Montpellier II - Sciences et techniques
3: Plasticité et physio-pathologie de la motricité (P3M) (PPPMP)
CNRS : UMR6196 – Université de la Méditerranée - Aix-Marseille II

inria-00000107, version 2
http://hal.inria.fr/inria-00000107
oai:hal.inria.fr:inria-00000107
From: Christine Azevedo <>
Submitted on: Tuesday, 29 May 2007 20:23:47
Updated on: Tuesday, 30 September 2008 11:32:09

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