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Design and Implementation of Omni-directional Walking System for Humanoid Robot

  • Chi-Tai Cheng
  • Ching-Chang Wong
  • Hao-Che Chen
  • Yueh-Yang Hu
  • I-Hsiang Tseng
  • Li-Feng Chen
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7429)

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.

Keywords

Omni-directional Walking Zero-motion point humanoid robot 

References

  1. 1.
    Erbatur, K., Kurt, O.: Natural ZMP trajectories for biped robot reference generation. IEEE Trans. Ind. Electron. 56(3), 835–845 (2009)CrossRefGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Chi-Tai Cheng
    • 1
  • Ching-Chang Wong
    • 1
  • Hao-Che Chen
    • 1
  • Yueh-Yang Hu
    • 1
  • I-Hsiang Tseng
    • 1
  • Li-Feng Chen
    • 1
  1. 1.Department of Electrical EngineeringTamkang UniversityNew Taipei CityTaiwan, ROC

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