Research activities
My works:
Optimal pattern generator:
Design an optimal ZMP based pattern generator for stable dynamic walking.
The proposed method is based on a Three-Mass Linear Inverted Pendulum Model (3MLIPM), used as a simplified dynamics of the biped robot. The 3MLIPM simplifies the biped robot as a three point masses and two-link system. A ZMP based criterion is then used in an optimization problem whose solution gives the best values of the model’s parameters w.r.t. dynamic walking stability.
Human motion analysis:
Determine the roles of arms motions and Center of Mass position trajectories during walking motion.
In the context of this walking motion analysis project, a collaboration with Pr. A. Cappozzo, department director of the Department of Human Movement and Sports Sciences, University of Rome Foro Italico, Italia, from the biomechanics community has take place at LABLAB laboratory (University of Rome Foro Italico).
The equipment for this study is composed of 1 host PC, 10 Vicon cameras and 3 Forces plates.
The study consist in an analysis of the walking motion on 15 Subjects,each of them walking at different speed, while equipped with 35 markers using Plug-in Gait template (a). The reconstruction of movement use Vicon Nexus (b) and the estimation of CoM use Lifemod (c).
The study of the human walking cycle show an optimal energy efficiency. This work have been used to produce optimal motion tables of parameters at different walking speed.
Robot control:
Design an hybrid kinematic/dynamic whole-body control law to produce human-like motions.
Its basic idea lies in the control of the CoM with a ZMP regulation, the relative pose of robot’s feet and joint’s limit avoidance.
