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27 Octobre 2014

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28 Octobre 2014

JJCR 2014

29-30 Octobre 2014

Journées Nationales du GDR Robotique.


Probabilistic model for balance recovery and biped locomotion

Walking and balance is a major issue in humanoid robotics. Most of the time this problem is treated using Zero Moment Point (ZMP) control. While this method works, it lacks the reactivity and the stability we found in humans. Moreover the speed of the walk is greatly limited by this approach. In our case we looked at the notion of capture point introduced to cope with push recovery that requires a step (Pratt et al. 2006) . Here we extended this notion to allow walking and balance and tested it in simulations. We then applied this method in a Bayesian frame to deal with uncertainty of the model and of the sensors. It also grants the possibility to easily integrate other constraints such as obstacles or corridors.