Biorobotics Laboratory BioRob

Project Description

The aim of this project is to develop a biped walking controller for the Hoap2 humanoid robot.

It is based on the following article:

J. Morimoto, G. Endo, J. Nakanishi, S. Hyon, and G. Cheng. Modulation of simple sinusoidal patterns by a coupled oscillator model for biped walking.In Proceedings of the 2006 IEEE International Conference on Robotics and Automation.

Basical controller operation

The controller is described by two groups of equations: Synchronization (both in phase and frequency) with the robot dynamics: A coupled oscillators system describes the behavior of the two movements. Coupling locks the controller phase on the robot dynamics. Generation of the periodic joint trajectories: The trajectory of each joint is obtained from the controller phase by a specific sinusoidal oscillator. The complete walking pattern is described by these equations.


Some movies of the robot in action:

Walking at slow speed Simple stepping movement
Walking at medium speed Climbing a small slope
Walking at fast speed Turning


Report [PDF 2.6MB]


Project presentation: Slides only [PDF 1.1MB] Slides and movies [ZIP 12.2MB]