DocumentCode
2667333
Title
Nao humanoid robot gait planning based on the linear inverted pendulum
Author
Wang, Fei ; Wang, Yaning ; Wen, Shiguang ; Zhao, Shuying
Author_Institution
Coll. of Inf. Sci. & Eng., Northeastern Univ., Shenyang, China
fYear
2012
fDate
23-25 May 2012
Firstpage
986
Lastpage
990
Abstract
The gait planning of humanoid robot Nao is solved based on the linear inverted pendulum (LIPM) in this paper. The step length and period is selected according to the structure of Nao. LIPM model and ZMP is applied in the planning. An ideal gait data is obtained through simulation experiment, demonstrating the effectiveness of the LIPM model in the gait planning of the biped robot.
Keywords
humanoid robots; legged locomotion; nonlinear control systems; LIPM; Nao humanoid robot gait planning; biped robot; ideal gait data; linear inverted pendulum; Gravity; Humanoid robots; Joints; Legged locomotion; Planning; Trajectory; LIPM; ZMP; gait planning; humanoid robot;
fLanguage
English
Publisher
ieee
Conference_Titel
Control and Decision Conference (CCDC), 2012 24th Chinese
Conference_Location
Taiyuan
Print_ISBN
978-1-4577-2073-4
Type
conf
DOI
10.1109/CCDC.2012.6244154
Filename
6244154
Link To Document