A Synthesis of Bipedal Locomotion in Human and Robots

Christine Azevedo Coste 1, * Bernard Amblard 2 Bernard Espiau 1 Christine Assaiante 2
* Corresponding author
1 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
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.
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Submitted on : Tuesday, May 29, 2007 - 8:23:47 PM
Last modification on : Thursday, February 7, 2019 - 3:46:50 PM
Long-term archiving on : Tuesday, September 18, 2012 - 11:51:07 AM

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Christine Azevedo Coste, Bernard Amblard, Bernard Espiau, Christine Assaiante. A Synthesis of Bipedal Locomotion in Human and Robots. [Research Report] Rapport de Recherche INRIA RR-5450 ; 11752, INRIA. 2004, pp.55. ⟨inria-00000107v2⟩

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