Papers
12
Total Citations
836
H-Index
10
About
P. Sardain is a leading researcher in the field of bipedal robotics, with a primary focus on anthropomorphic locomotion and the dynamic principles that enable stable, human-like walking. His most significant contribution is the seminal 2004 paper "Forces Acting on a Biped Robot. Center of Pressure—Zero Moment Point," which has garnered 461 citations and remains a cornerstone reference for understanding balance and gait in humanoid robots. Sardain was instrumental in the BIP2000 project, a collaborative French effort to design and construct the lower body of an anthropomorphic robot with 15 active joints, detailed in multiple highly cited works (85 and 56 citations). His research uniquely bridges theory and practice, including experimental studies where human walkers wore robot feet as shoes to measure center of pressure and zero moment point dynamics—a novel approach that yielded 45 and 39 citations. Sardain also advanced gait optimization through parametric-based dynamic synthesis, minimizing driving torques for efficient 3D walking patterns. With a career spanning foundational concepts in ZMP, technological design, and motion synthesis, his work has profoundly shaped the development of dynamic, fast-walking biped robots.
Research Focus
Key Achievements
Top Papers
- 1Forces Acting on a Biped Robot. Center of Pressure—Zero Moment Point461 citations · 2004
- 2An anthropomorphic biped robot: dynamic concepts and technological design85 citations · 1998
- 3The anthropomorphic biped robot BIP200056 citations · 2002
- 4
- 5Gait analysis of a human walker wearing robot feet as shoes39 citations · 2002
- 6
- 7Parametric-based dynamic synthesis of 3D-gait33 citations · 2009
- 8Biped robots: Correlations between technological design and dynamic behavior33 citations · 1999
- 9Optimal Motion Synthesis – Dynamic Modelling and Numerical Solving Aspects25 citations · 2002
- 10