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Finding Adequate Optimization Criteria to Solve Inverse Kinematics of Redundant Bird Leg Mechanism

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Mederreg, L. | Hugel, Vincent | Abourachid, A. | Blazevic, P. | Hackert, Rémi

Edité par CCSD ; Springer Berlin Heidelberg -

International audience. In this paper we shall present the progress of the ROBOCOQ project. This project aims to design a prototype of autonomous biped based on the avian model, capable of exploring cluttered environments. This design relies on experimental kinematics data obtained from the quail. The experimental protocol used to reconstruct a 3D model is presented in this paper as well as the procedure and criteria employed to find an optimal inverse kinemat-ics control.

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