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Published on Sep 5, 2011
This video shows CoMAN, the compliant humanoid robot under development at IIT, Department of Advanced Robotics, walking human-like. Its joint trajectories are reconstructed from five kinematic Motion Primitives, extracted from human subjects. The gait obtained is highly dynamic. The gait frequency is the same as that of an average human (0.89 Hz). Notice, in particular, the detail of the knee straightening, and the pelvis motion.