Biped locomotion

The aim of this project is to develop a simple strategy for controlling and adapting bipedal locomotion using bio-inspired algorithms.

The problem of bipedal locomotion includes several challenges that must be adressed:

  • Motion generation
  • Static balancing and equilibrium
  • Dynamic equilibrium
  • Adaptation of motion to different environments
  • Perturbation rejection

We try to tackle these problems using the concept of Central Pattern Generators and a dynamical systems theory for the generation of motion patterns of walking.

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