Motion planning for omnidirectional dynamic gait in humanoid soccer robots
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http://hdl.handle.net/10045/16645
Title: | Motion planning for omnidirectional dynamic gait in humanoid soccer robots |
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Authors: | Alcaraz Jiménez, Juan José | Herrero Pérez, David | Martínez Barberá, Humberto |
Keywords: | Humanoid soccer robots | Omnidirectional locomotion | Dynamic gait | RoboCup |
Knowledge Area: | Ciencia de la Computación e Inteligencia Artificial |
Issue Date: | Jan-2011 |
Publisher: | Red de Agentes Físicos |
Citation: | ALCARAZ JIMÉNEZ, Juan José; HERRERO PÉREZ, David; MARTÍNEZ BARBERÁ, Humberto. “Motion planning for omnidirectional dynamic gait in humanoid soccer robots”. Journal of Physical Agents. Vol. 5, No. 1 (Jan. 2011). ISSN 1888-0258, pp. 25-34 |
Abstract: | This paper deals with the problem of planning the Center of Mass (CoM) trajectory of a humanoid robot while its feet follow an omnidirectional walking pattern. This trajectory should satisfy the dynamic stability criterion to ensure analytically that the Zero Moment Point (ZMP) lies within the support polygon. The proposed approach provides flexibility and agility to humanoid robots, which is of special interest in highly dynamic environments, such as soccer robotics. The experimental results show that the proposed method permits on-line calculation of omnidirectional stable trajectories in the commercial humanoid platform NAO, which has limited computational resources. |
Sponsor: | This work has been supported by Spanish Ministry of Science and Innovation under DPI-2007-66556-C03-02 CICYT project and by Spanish Ministry of Education through its FPU program. |
URI: | http://hdl.handle.net/10045/16645 | http://dx.doi.org/10.14198/JoPha.2011.5.1.04 |
ISSN: | 1888-0258 |
DOI: | 10.14198/JoPha.2011.5.1.04 |
Language: | eng |
Type: | info:eu-repo/semantics/article |
Peer Review: | si |
Appears in Collections: | Journal of Physical Agents - 2011, Vol. 5, No. 1 |
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