Omni-directional closed-loop walk for NAO

This paper describes the new walk algorithm implemented on the NAO robot. NAO is a small fully actuated biped robot provided by the French company Aldebaran Robotics. Since the beginning of the company in July 2005, a major goal has been the development of robust walk for the robot. After 5 years of mecatronic design and improvements in robustness of the robot (7 prototypes) and multiple prototypes of humanoid dynamic walk algorithm, an omni-directional walk robust against small obstacles is now available for all the NAO units (more than 700) in the world.