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Behavioural approach for a bipedal robot stepping motion gait

Published online by Cambridge University Press:  01 September 1999

F. El Hafi  and
P. Gorce
F. El Hafi
Affiliation:
Laboratoire de Génie Mécanique Productique et Biomécanique (LGMPB), 9 Avenue de la Division Leclerc, BP 140, 94234 CACHAN (FRANCE). E-mail: philippe.gorce@iut-cachan.u-psud.fr.
P. Gorce
Affiliation:
Laboratoire de Génie Mécanique Productique et Biomécanique (LGMPB), 9 Avenue de la Division Leclerc, BP 140, 94234 CACHAN (FRANCE). E-mail: philippe.gorce@iut-cachan.u-psud.fr.
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Abstract

This paper deals with the decision mechanism analysis and the design of bipedal trajectories, for the stepping motion. For that we have used biomechanical model of the human body and dynamic control scheme previously developed by Gorce. We based our study on an experimental protocol, in order to determine behavioural laws for the task execution. We have developed a biped trajectory generation process, taking into account the biped height and the obstacle dimensions. Furthermore, we characterize the stepping motion feasibility by introducing a security notion, and we define an “Admissible control Domain”, which relies on the relative position of the biped to the obstacle and the obstacle dimensions. This domain definition has led us to define the biped behavioural strategies facing an obstacle: the biped executes the task at an accurate “chosen distance”, or stops or takes another way. Experimentations have allowed to validate simulations results.

Keywords

Bipedal robotStepping motionAdmissible control domainBehavioural
Type
Research Article
Information
Robotica , Volume 17 , Issue 5 , September 1999 , pp. 491 - 501
Copyright
© 1999 Cambridge University Press

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