Human gait simulation from a reduced set of low-dimensional tasks using hierarchical control

Melya Boukheddimi , François Bailly (1) , Philippe Souères , Bruno Watier

1 LAAS-GEPETTO - Équipe Mouvement des Systèmes Anthropomorphes

In this paper, we propose to use the hierarchical tasks framework used in humanoid robotics for simulating the human gait from a reduced set of ordered tasks. We simulated human gait with a whole-body model using hierarchical control, and compared the simulated motion with experimental data obtained from a motion capture system. We hypothesized that the control of a reduced set of low-dimensional key tasks could lead to closely reproduce the human gait.

Mots clés: robotics; hierarchical control; locomotion; humanoid

Domaines: Robotique [cs.RO]; Biomécanique [physics.med-ph]

Melya Boukheddimi, François Bailly, Philippe Souères, Bruno Watier. Human gait simulation from a reduced set of low-dimensional tasks using hierarchical control. 44 congrès de la société de biomécanique, l’Université de Poitiers et le CHU de Poitiers., Oct 2019, Poitiers, France. ⟨10.1080/10255842.2020.1714962⟩. ⟨hal-02147549⟩