How do biped robots walk?

Talk given at the Willow team seminar, Computer Science Department of the École Normale Supérieure de Paris (DI ENS), on 26 March 2019.

Abstract

In this introductory talk, we will see the general methods used nowadays to make humanoid robots walk or climb stairs. Predictive and feedback controls will be presented from a high-level perspective, with more videos than equations. At its end, our bird-eye trip will leave us with open questions, for instance: what is missing in our robots' brains today? The audience is encouraged to bring lightweight plastic bottles.