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Balanced Walking with Capture Steps

  • Marcell Missura
  • Sven Behnke
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8992)

Abstract

Bipedal walking is one of the most essential skills required to play soccer with humanoid robots. Superior walking speed and stability often gives teams the winning edge when their robots are the first at the ball, maintain ball control, and drive the ball towards the opponent goal with sure feet. In this contribution, we present an implementation of our Capture Step Framework on a real soccer robot, and show robust omnidirectional walking. The robot not only manages to locomote on an even surface, but can also cope with various disturbances, such as pushes, collisions, and stepping on the feet of an opponent. The actuation is compliant and the robot walks with stretched knees.

Keywords

Inertial Measurement Unit Support Exchange Real Robot Zero Moment Point Double Support Phase 
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.

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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Autonomous Intelligent Systems, Computer ScienceUniversity of BonnBonnGermany

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