Layered omnidirectional walking controller for the humanoid soccer robot

This paper proposes the layered omnidirectional walking controller for the humanoid soccer robot. The gait of the robot can be parameterized using the destination posititon and the desired direction while reaching the destination. Its implementation in our RoboCup simulation team - SEU-3D is detailed in this paper. Our approach generates smooth robot trajectories without stop before changing direction or turning, and is fast enough to meet the real-time requirements. The proposed approach has been tested in the RoboCup soccer 3D server platform. The results showed that omnidirectional walking has advantages in dynamic environments.