A Fast and Stable Omnidirectional Walking Engine for the Nao Humanoid Robot

  • Mohammadreza KasaeiEmail author
  • Nuno Lau
  • Artur Pereira
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11531)


This paper proposes a framework designed to generate a closed-loop walking engine for a humanoid robot. In particular, the core of this framework is an abstract dynamics model which is composed of two masses that represent the lower and the upper body of a humanoid robot. Moreover, according to the proposed dynamics model, the low-level controller is formulated as a Linear-Quadratic-Gaussian (LQG) controller that is able to robustly track the desired trajectories. Besides, this framework is fully parametric which allows using an optimization algorithm to find the optimum parameters. To examine the performance of the proposed framework, a set of simulation using a simulated Nao robot in the RoboCup 3D simulation environment has been carried out. Simulation results show that the proposed framework is capable of providing fast and reliable omnidirectional walking. After optimizing the parameters using genetic algorithm (GA), the maximum forward walking velocity that we have achieved was 80.5 cm/s.


Humanoid robots Walking engine Linear-Quadratic-Gaussian (LQG) Genetic algorithm Linear Inverted Pendulum Model (LIPM) 



This research is supported by Portuguese National Funds through Foundation for Science and Technology (FCT) through FCT scholarship SFRH/BD/118438/2016.


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.IEETA / DETIUniversity of AveiroAveiroPortugal

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