Online Omnidirectional Walking Patterns Generation for Biped Robot

摘要：

This paper proposes a method to plan omnidirectional walking patterns at first. Only the motions of hip and feet are planned. And the motions of other joints can be obtained through inverse kinematics constraints. Then dynamic online walking path and gaits generation are discussed. ANN is used to optimism the generated walking gaits. The ANN is trained offline in the simulation system. Then biped robot can walk to a variational target position without any stopping to turn its body. It makes the movement of robot faster,agiler and more stable. Our proposed approach has been tested in RoboCup soccer 3D simulation system. It is proved to have advantages when acting in dynamic environments.

关键词： biped robot omnidirectional patterns dynamic walking path generation ANN

作者: Guoqiang Shi Hao Wang Baofu Fang

作者单位: School of Computer & Information,Hefei University of Technology Hefei 230009,China

会议类型: 国际会议

会议名称: 2009 9th International Conference on Electronic Measurement & Instruments(第九届电子测量与仪器国际会议 ICEMI2009)

会议地点: 北京

会议语种:英文

页码: 2984-2989

在线出版日期: 2009-08-16（万方平台首次上网日期，不代表论文的发表时间）