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Bipedal walking gait generation based on the Sequential Method of Analytical Potential (SMAP)

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Abstract

This paper presents a method we have called the Sequential Method of Analytical Potential (SMAP). By taking account of a system’s actual capabilities via Dynamic Propulsion Potentials (DPP), this method aims to generate dynamic walking gaits for bipedal robots. The objective is to move the robot by acting directly on the actuator forces. The various accelerations governing the movements of the robot are controlled by direct, precise modification of its own dynamic effects, taking account of the robot’s intrinsic dynamics as well as the capabilities of the actuators moving the joints.

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Authors and Affiliations

  1. TEleRobotics & Applications (TERA), Istituto Italiano di Tecnologia (IIT) 2, Via Morego 30, 16163, Genova, Italy

    Anthony David

  2. Laboratoire d’Ingénierie des Systèmes de Versailles (LISV), Université de Versailles St Quentin, 78140, Velizy, France

    Olivier Bruneau

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  1. Anthony David
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  2. Olivier Bruneau
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Correspondence to Olivier Bruneau.

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David, A., Bruneau, O. Bipedal walking gait generation based on the Sequential Method of Analytical Potential (SMAP). Multibody Syst Dyn 26, 367–395 (2011). https://doi.org/10.1007/s11044-011-9265-8

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  • DOI: https://doi.org/10.1007/s11044-011-9265-8

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