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Development and Implementation of Walking Algorithms for Humanoid Robots


The objective of this proposal is to develop walking algorithms for humanoid robots. This area of research is at the state-of-the-art in the context of robotics, because of the importance of integrating the robots to the environments in which humans live and operate. Currently, model-based approaches have been the most successful being able to realize the walking movement of several distinct humanoid robotic platforms. The present proposal aims to improve the performance of the walk (in terms of speed and energy expenditure) and the stability (with respect to avoiding falls) in relation to the state-of-the-art. Therefore, it is intended to develop walking algorithms that overcome some of the difficulties encountered in the more recent approaches such as the use of a single mathematical model for the robot throughout the walking motion, the imposition of a constant height for the Center of Mass of the robot and pre-setting of the period for execution of a walking cycle. In order to validate the proposed algorithms with experiments, it is planned to acquire a software for simulation with a high-fidelity model and a humanoid robot suitable for research. (AU)

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Scientific publications (4)
(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)
MAXIMO, MARCOS R. O. A.; AFONSO, RUBENS J. M.. Mixed-integer quadratic programming for automatic walking footstep placement, duration, and rotation. OPTIMAL CONTROL APPLICATIONS & METHODS, v. 41, n. 6, SI, . (16/03647-3)
MADDALENA, EMILIO TANOWE; HARROP GALVAO, ROBERTO KAWAKAMI; MAGALHAES AFONSO, RUBENS JUNQUEIRA. Robust region elimination for piecewise affine control laws. AUTOMATICA, v. 99, p. 333-337, . (16/03647-3)
MAXIMO, MARCOS R. O. A.; RIBEIRO, CARLOS H. C.; AFONSO, RUBENS J. M.. Real-time walking step timing adaptation by restricting duration decision for the first footstep. ADVANCED ROBOTICS, v. 34, n. 21-22, SI, p. 1420-1441, . (16/03647-3, 17/02055-8)
AFONSO, RUBENS J. M.; MAXIMO, MARCOS R. O. A.; GALVAO, ROBERTO K. H.. Task allocation and trajectory planning for multiple agents in the presence of obstacle and connectivity constraints with mixed-integer linear programming. INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR CONTROL, v. 30, n. 14, . (16/03647-3)

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