DocumentCode
2097065
Title
Online trajectory generation for omnidirectional biped walking
Author
Behnke, Sven
Author_Institution
Comput. Sci. Inst., Freiburg Univ.
fYear
2006
fDate
15-19 May 2006
Firstpage
1597
Lastpage
1603
Abstract
This paper describes the online generation of trajectories for omnidirectional walking on two legs. The gait can be parameterized using walking direction, walking speed, and rotational speed. Our approach has a low computational complexity and can be implemented on small onboard computers. We tested the proposed approach using our humanoid robot Jupp. The competitions in the RoboCup soccer domain showed that omnidirectional walking has advantages when acting in dynamic environments
Keywords
computational complexity; control engineering computing; humanoid robots; legged locomotion; multi-robot systems; position control; RoboCup soccer; computational complexity; humanoid robot; omnidirectional biped walking; online trajectory generation; Computational complexity; Equations; Humanoid robots; Leg; Legged locomotion; Mobile robots; Robot kinematics; Testing; Trajectory; Vehicle dynamics;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location
Orlando, FL
ISSN
1050-4729
Print_ISBN
0-7803-9505-0
Type
conf
DOI
10.1109/ROBOT.2006.1641935
Filename
1641935
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