Abstract
This paper is focusing on a new humanoid robot developed by the ROBIOSS team from the Pprime Institute. After a short presentation of its mechanical and control design, a gait generation algorithm based on COG planning is proposed in order to synthesize basic test motions. Two preliminary experiments are carried out on the prototype of the locomotor system, in order to validate the control scheme as well as the global design of the locomotor system of this fully electrically actuated robot.
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Acknowledgments
This work has been sponsored by the French government research program « Investissements d’Avenir » through the Robotex Equipment of Excellence (ANR-10-EQPX-44) and is supported by the Poitou-Charentes region 2007-2013 (program project 10 Images and interactivities), in partnership with the European Union (FEDER/ERDF, European Regional Development Fund).
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Eon, A., Seguin, P., Arsicault, M., Zeghloul, S. (2016). Design and Experiments on a New Humanoid Robot: TIDOM. In: Zeghloul, S., Laribi, M., Gazeau, JP. (eds) Robotics and Mechatronics. Mechanisms and Machine Science, vol 37. Springer, Cham. https://doi.org/10.1007/978-3-319-22368-1_6
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DOI: https://doi.org/10.1007/978-3-319-22368-1_6
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