Abstract—In the real world, many applications are nonstationary optimization problems. This requires that optimization algorithms need to not only find the global optimal soluti...
— We present a system of coupled nonlinear oscillators to be used as programmable central pattern generators, and apply it to control the locomotion of a humanoid robot. Central ...
Sampling in the space of controls or actions is a well-established method for ensuring feasible local motion plans. However, as mobile robots advance in performance and competence ...
Abstract—This paper presents a systematic approach to generate walking primitive databases for anthropomorphic 3D–bipeds allowing step length adaptation, direction changes and ...
Several french laboratories, joint in the CNRS Project "Control of Legged Robots", have defined a biped robot intented to experiment walking and running gaits. This bipe...