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

  • Conference paper
Advances in Autonomous Robotics (TAROS 2012)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 7429))

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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.

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References

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

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Author information

Authors and Affiliations

  1. Department of Electrical Engineering, Tamkang University, Tamsui District, New Taipei City, Taiwan, ROC

    Chi-Tai Cheng, Ching-Chang Wong, Hao-Che Chen, Yueh-Yang Hu, I-Hsiang Tseng & Li-Feng Chen

Authors
  1. Chi-Tai Cheng
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  2. Ching-Chang Wong
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  3. Hao-Che Chen
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  4. Yueh-Yang Hu
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  5. I-Hsiang Tseng
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  6. Li-Feng Chen
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Editor information

Editors and Affiliations

  1. Department of Mechanical Engineering and Bristol Robotics Laboratory, University of Bristol, Bristol, UK

    Guido Herrmann

  2. Intelligent Autonomous Systems Lab Faculty of Computing, Engineering & Mathematical Sciences, University of the West of England, BS16 1QY, Bristol, U.K.

    Matthew Studley

  3. University of the West of England, BS34 8QZ, Bristol, UK

    Martin Pearson , Andrew Conn  & Chris Melhuish ,  & 

  4. Department of Electrical and Electronic Engineering, Imperial College London, Exhibition Road, SW7 2BT, London, UK

    Mark Witkowski

  5. Robot Intelligence Technology Laboratory, Department of EECS, KAIST, Daejeon, Korea

    Jong-Hwan Kim

  6. National University of Singapore, Singapore

    Prahlad Vadakkepat

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© 2012 Springer-Verlag Berlin Heidelberg

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Cite this paper

Cheng, CT., Wong, CC., Chen, HC., Hu, YY., Tseng, IH., Chen, LF. (2012). Design and Implementation of Omni-directional Walking System for Humanoid Robot. In: Herrmann, G., et al. Advances in Autonomous Robotics. TAROS 2012. Lecture Notes in Computer Science(), vol 7429. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-32527-4_44

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  • DOI: https://doi.org/10.1007/978-3-642-32527-4_44

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-32526-7

  • Online ISBN: 978-3-642-32527-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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