Normalization-based Omnidirectional Gait Planning for Small Humanoid Robot

被引：0

作者：

Li, Guodong ^{[1
]}

Peng, Jianyi ^{[1
]}

Liu, Kunpeng ^{[1
]}

Wang, Xiangjin ^{[1
]}

机构：

[1] Wuhan Ordnance NCO Acad PLA, Wuhan, Hubei, Peoples R China

来源：

INFORMATION ENGINEERING FOR MECHANICS AND MATERIALS SCIENCE, PTS 1 AND 2 | 2011年 / 80-81卷

关键词：

humanoid robot; normalization; gait planning; omnidirectional walk;

D O I：

10.4028/www.scientific.net/AMM.80-81.1289

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

The normalization method is utilized in this paper for gait planning of small humanoid robot, and hence generating the normalized trajectory curves for parameters such as three dimensional coordinates and rotation angle and achieving omni-directional legged locomotion of robot. The advantages of this method include less computational complexity of controller, on-line real-time planning of robot, and better stability in motion and flexibility in control. Test results demonstrate that the robot can walk stably towards all directions at the walking speed of 0.8km/h.

引用

页码：1289 / 1294

页数：6

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