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
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;
Conference_Titel :
Control and Decision Conference (CCDC), 2012 24th Chinese
Conference_Location :
Taiyuan
Print_ISBN :
978-1-4577-2073-4
DOI :
10.1109/CCDC.2012.6244154
