Abstract
In this paper, we present a walking approach for the Nao robot that improves the agility and stability of the robot when walking on a flat surface such as the soccer field used in the Standard Platform League. The gait uses the computationally inexpensive model of an inverted pendulum to generate a target trajectory for the center of mass of the robot. This trajectory is adapted using the observed real motion of the center of mass. This approach does not only allow compensating the inaccuracies in the model, but it also allows for reacting to external perturbations effectively. In addition, the method aims at facilitating a preferably fast walk while reducing the load on the joints.
Chapter PDF
Similar content being viewed by others
Keywords
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.
References
Czarnetzki, S., Kerner, S., Urbann, O.: Observer-based dynamic walking control for biped robots. Robotics and Autonomous Systems 57(8), 839–845 (2009)
Eberhart, R.C., Kennedy, J.: A new optimizer using particles swarm theory. In: Sixth International Symposium on Micro Machine and Human Science, pp. 39–43 (1995)
Gouaillier, D., Collette, C., Kilner, C.: Omni-directional closed-loop walk for NAO. In: 2010 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 448–454 (December 2010)
Gouaillier, D., Hugel, V., Blazevic, P., Kilner, C., Monceaux, J., Lafourcade, P., Marnier, B., Serre, J., Maisonnier, B.: The NAO humanoid: a combination of performance and affordability. CoRR abs/0807.3223 (2008)
Graf, C., Röfer, T.: A closed-loop 3D-LIPM gait for the RoboCup Standard Platform League humanoid. In: Zhou, C., Pagello, E., Behnke, S., Menegatti, E., Röfer, T., Stone, P. (eds.) Proceedings of the Fourth Workshop on Humanoid Soccer Robots in Conjunction with the 2010 IEEE-RAS International Conference on Humanoid Robots (2010)
Graf, C., Härtl, A., Röfer, T., Laue, T.: A Robust Closed-Loop Gait for the Standard Platform League Humanoid. In: Zhou, C., Pagello, E., Menegatti, E., Behnke, S., Röfer, T. (eds.) Proceedings of the Fourth Workshop on Humanoid Soccer Robots in Conjunction with the 2009 IEEE-RAS International Conference on Humanoid Robots, Paris, France, pp. 30–37 (2009)
Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Yokoi, K., Hirukawa, H.: A realtime pattern generator for biped walking. In: Proceedings of the 2002 IEEE International Conference on Robotics and Automation (ICRA 2002), Washington, D.C., USA, pp. 31–37 (2002)
Kalman, R.E.: A new approach to linear filtering and prediction problems. Transactions of the ASME–Journal of Basic Engineering 82(Series D), 35–45 (1960)
Kulk, J.A., Welsh, J.S.: A low power walk for the NAO robot. In: Kim, J., Mahony, R. (eds.) Proceedings of the 2008 Australasian Conference on Robotics & Automation, ACRA 2008 (2008)
Müller, J., Laue, T., Röfer, T.: Kicking a Ball – Modeling Complex Dynamic Motions for Humanoid Robots. In: Ruiz-del-Solar, J., Chown, E., Ploeger, P.G. (eds.) RoboCup 2010. LNCS (LNAI), vol. 6556, pp. 109–120. Springer, Heidelberg (2010)
Röfer, T., Laue, T., Müller, J., Burchardt, A., Damrose, E., Fabisch, A., Feldpausch, F., Gillmann, K., Graf, C., de Haas, T.J., Härtl, A., Honsel, D., Kastner, P., Kastner, T., Markowsky, B., Mester, M., Peter, J., Riemann, O.J.L., Ring, M., Sauerland, W., Schreck, A., Sieverdingbeck, I., Wenk, F., Worch, J.H.: B-Human team report and code release 2010 (2010), http://www.b-human.de/file_download/33/bhuman10_coderelease.pdf
Strom, J., Slavov, G., Chown, E.: Omnidirectional Walking Using ZMP and Preview Control for the NAO Humanoid Robot. In: Baltes, J., Lagoudakis, M.G., Naruse, T., Ghidary, S.S. (eds.) RoboCup 2009. LNCS (LNAI), vol. 5949, pp. 378–389. Springer, Heidelberg (2010)
Vukobratovic, M., Borovac, B.: Zero-moment point – thirty five years of its life. International Journal of Humanoid Robotics 1(1), 157–173 (2004)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2012 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Graf, C., Röfer, T. (2012). A Center of Mass Observing 3D-LIPM Gait for the RoboCup Standard Platform League Humanoid. In: Röfer, T., Mayer, N.M., Savage, J., Saranlı, U. (eds) RoboCup 2011: Robot Soccer World Cup XV. RoboCup 2011. Lecture Notes in Computer Science(), vol 7416. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32060-6_9
Download citation
DOI: https://doi.org/10.1007/978-3-642-32060-6_9
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-32059-0
Online ISBN: 978-3-642-32060-6
eBook Packages: Computer ScienceComputer Science (R0)