Design and experiments on a new humanoid robot: TIDOM

Abstract

This paper is focusing on a new humanoid robot developed by the ROBIOSS team from the Pprime Institute. After a short presentation of its mechanical and control design, a gait generation algorithm based on COG planning is proposed in order to synthesize basic test motions. Two preliminary experiments are carried out on the prototype of the locomotor system, in order to validate the control scheme as well as the global design of the locomotor system of this fully electrically actuated robot.