Toward a Codesign Approach for Versatile and Energy-Efficient Humanoid Robots

  • Jean-Paul Laumond
  • Mehdi Benallegue
Reference work entry


From its very origin, research in humanoid robotics have been dominated by two tendencies. First, emphasizing on the mechatronical design of whole-body humanlike walkers gave rise to walking schemes grounded by the control of the foot-ground contact. Second, simple but clever design of bipedal machines enables overcoming this level of control by taking advantage of gravity and by giving rise to passivity-based control schemes. Recent advances in robustness analysis of dynamical systems in general, and bipedal robots in particular, allow evaluating the respective contribution of the mechanical design and the control schemes to dynamic walking. Such dual perspective advocates for the implementation of codesign approaches for the future humanoid robots.



This chapter benefited from discussions with Nicolas Mansard and Justin Carpentier. This work was partially funded by the European Research Council Grant Actanthrope (ERC-ADG 340050).


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Copyright information

© Springer Nature B.V. 2019

Authors and Affiliations

  1. 1.LAAS-CNRSUniversity de ToulouseToulouseFrance
  2. 2.AISTTsukuba, IbarakiJapan

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