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ROBOCUP
2009
Springer

Omnidirectional Walking Using ZMP and Preview Control for the NAO Humanoid Robot

10 years 5 months ago
Omnidirectional Walking Using ZMP and Preview Control for the NAO Humanoid Robot
Fast-paced dynamic environments like robot soccer require highly responsive and dynamic locomotion. We present an implementation of an omnidirectional ZMP-based walk engine for the Nao robot. Using a simple inverted pendulum model, a preview controller generates dynamically balanced center of mass trajectories. To enable path planning, we introduce a system of global and egocentric coordinate frames to define step placement. These coordinate frames allow translation of the CoM trajectory, given by the preview controller, into leg actions. Walk direction can be changed quickly to suit a dynamic environment by adjusting the future step pattern.
Johannes Strom, George Slavov, Eric Chown
Added 27 May 2010
Updated 27 May 2010
Type Conference
Year 2009
Where ROBOCUP
Authors Johannes Strom, George Slavov, Eric Chown
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