Dynamic control of walking cycle with initiation process for humanoid robot

This paper focuses on numerical method to solve the dynamic equilibrium of a humanoid robot during the walking cycle with the gait initiation process. It is based on a multi-chain strategy and a dynamic control/command archit ecture previously developed by Gorce. The strategy is based on correction o f the trunk center of mass acceleration and force distribution of the force s exerced by the limbs on the trunk. This latter is performed by mean of a Linear Programming (LP) method. We study the gait initiation process when a subject, initially in quiet erect stance posture, performs a walking cycle . In this paper, we propose to adjust the method for the multiphases (from double support to single support) and multicriteria features of the studied movement. This is done by adapting some specific constraints and criteria in order to ensure the global stability of the humanoid robot along the tas k execution. For that, we use a Real-Time Criteria and Constraints Adaptati on method. Simulation results are presented to demonstrate criteria and con straints influences on the dynamic stability.