A new human-like walking for the humanoid robot Romeo

This paper seeks to define the anthropomorphic walking motion for humanoid robot Romeo. The main characteristics of lower and upper limb motions human being during are adapted Romeo taking into account its kinematics motor power. proposed includes starting, periodic stopping motions. A boundary value problem is stated solved each these three movements, which composed single double support phases. trajectory zero moment point (ZMP) explicitly defined as a function time. Thanks Essential model, two horizontal coordinates center mass (CoM) desired ZMP joint movements Numerical results show efficiency our strategy design human-like