Autonomous March Control for Humanoid Robot Animation in a Virtual Reality Environment

Abstract

This article proposes an autonomous control scheme for the march of a humanoid robot applied to virtual reality environments. The control laws proposed for the autonomous displacement of a humanoid robot are based on their kinematic modeling, for which it is considered that the lower extremities of the robot have as reference the midpoint between the separation distance of the right and left leg, the same, what is related to the sacred bone of people. In order to validate the proposed control scheme, a virtual reality simulation environment is implemented, for which it is used as the Unity3D graphics engine.