The goal of this project is to develop Limit Cycle control and biomimetic recovery reactions for the control of walking, in order to apply these paradigms to design and construct an autonomous walking biped and to improve a robotic exoskeleton for gait. The main objective of this project can be divided into a set of partial objectives:

1. Enhancement of global stability of Limit Cycle bipeds
   • Incorporation of advanced actuation
   • Inclusion of multiple sensory systems:
     • inertial sensors: accelerometers and gyroscopes
     • ground reaction force sensors (force-sensitive resistors)
     • camera systems for obstacle detection
   • Integration of an adaptive (biomimetic) control structure
2. Implementation of recovery strategies from gait perturbations
   • Review the sensorial and motor control mechanisms of human gait
   • Elaboration of sensori-motor control models
   • Examine the recovery strategies applied in human gait
     • Weight support on uneven surfaces
     • Stumbling reaction
3. Design and construction of a limit –cycle biped featuring:
   • Low energy consumption
   • Large stability margins
   • Biomimetic motion and recovery reactions
4. Implementation of a limit –cycle control structure on a powered exoskeleton
   • Low energy consumption
   • Large stability margins
   • Biomimetic motion and recovery reactions
   • Human performance enhancer
5. Prototypes tested and validated