Arnaud Hamon

Ecole Centrale de Nantes | EC Nantes · Research Institute of Communication and Cybernetics of Nantes

The design of a knee joint is a key issue in robotics to improve the lo-comotion and the performances of the bipedal robots. We study a design for the knee joints of a planar bipedal robot, based on a four-bar linkage. We design walking reference trajectories composed of double support phases, single support phases and impacts. The single support p...

One of the hardest challenges to face in the development of a non GPS-based localization system for autonomous vehicles is the changes of the environment. LiDAR-based systems typically try to match the last measurements obtained with a previously recorded map of the area. If the existing map is not updated along time, there is a good chance that th...

Obtaining a realistic and accurate model of the longitudinal dynamics is key for a good speed control of a self-driving car. It is also useful to simulate the longitudinal behavior of the vehicle with high fidelity. In this paper, a straightforward and generic method for obtaining the friction, braking and propulsion forces as a function of speed,...

The design of a knee joint is a key issue in robotics and biomechanics to improve the compatibility between prosthesis and human movements, and to improve the bipedal robot performances. We propose a novel design for the knee joint of a planar bipedal robot, based on a four-bar linkage. The dynamic model of the planar bipedal robot is calculated. T...

The design of a knee joint is a key issue in robotics to improve the locomotion and the performances of the bipedal robots. We study a design for the knee joints of a planar bipedal robot, based on a four-bar linkage. We design walking reference trajectories composed of double support phases, single support phases and impacts. The single support ph...

The design of a knee joint is a key issue in robotics and biomechanics to increase the compatibility between prostheses and human movements and to improve the performances of the bipedal robot. We propose a novel design for the knee joint of a planar bipedal robot, based on a four-bar linkage. The advantage of this structure is to produce a transla...

The design of a knee joint is a key issue in robotics and biomechanics to improve the compatibility between prosthesis and human movements and to improve the bipedal robot perfor-mances. We propose a novel design for the knee joint of a planar bipedal robot, based on a four-bar linkage. The dynamic model of the planar bipedal robot is calculated. W...

We propose a mechanical design for the knee joints of a planar bipedal robot. Each knee joint is composed of cross four-bar with springs. The dynamic model of a planar bipedal robot with cross four-bar knees and a parametric optimiza-tion problem are presented to produce a set of optimal reference trajectories. We use these trajectories to compare...

This work is devoted to the study of the influence of a polycentric knee joint during walking motions of a biped robot. This type of joint allows a movement of the instantaneous center of rotation of the knee like in human case, contrary to the most humanoid robots, which use single revolute knees. First, the kinematics of the human knee joint is p...

The objective of this work is to purpose a more efficient joint for the knee of a bipedal robot. Indeed, the biomechanical studies proved the human knee joint is a complex structure which allows a rolling and a sliding movement of the femur on the tibia in the sagittal plain . These movements are guided by the cruciate ligaments and the articular c...

Usually the bipedal robots use knee joints with only one degree of freedom. Several biomechanical researches have proved that the human knee joint is a complex joint with more than one degree of freedom. In the sagittal plane the human knee joint allows a rolling and a sliding of the thigh on the shin. In the case of a bipedal robot we propose a cl...

Usually, the bipedal robots use knee joints with only one degree of freedom. However, several biomechanical researches have proved the human knee joint is a very complex articulation with more than one degree of freedom. Indeed, in the sagittal plain the human knee articulation allows a rolling and a sliding of the thigh on the shin. Moreover, we c...