Human-inspired walking-style for a low-cost biped prototype

Many ongoing projects are being done in the field of humanoid robotics. Studies in the generation of human-like motions for humanoids based on human-motion-captured-data (HMCD) have demonstrated that this is feasible. Walking style patterns using only the ZMP concept have shown that the resulting motion of humanoids are not natural as human´s motion. By combining human-motion captured-data with other techniques, it is possible to improve humanoids´ walking style. On this matter, this work is intended to apply HMCD to MAYRA humanoid prototype and show its advantages versus the classic statically stable humanoid walking with semi-circular foot-trajectory. We conclude that signals obtained directly from human-walk are smoother rather than those signals obtained from mathematical foot-trajectory. This may lead to a simplification in the control system for the MAYRA biped prototype