Abstract
An omni-direction walking system for humanoid robot is presented in this paper. This method combines a mark time motion and a walking trajectory planning system. Three sub-motions, including leg shifting, leg lifting and leg opening, with same frequency are proposed to accomplish the mark time motion. The proposed omni-directional walking system is established to make robot walk fast in the soccer field.
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References
Erbatur, K., Kurt, O.: Natural ZMP trajectories for biped robot reference generation. IEEE Trans. Ind. Electron. 56(3), 835–845 (2009)
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© 2012 Springer-Verlag Berlin Heidelberg
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Cheng, CT., Wong, CC., Chen, HC., Hu, YY., Tseng, IH., Chen, LF. (2012). Design and Implementation of Omni-directional Walking System for Humanoid Robot. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_44
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DOI: https://doi.org/10.1007/978-3-642-32527-4_44
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-32526-7
Online ISBN: 978-3-642-32527-4
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