Nao Humanoid Robot Gait Planning Based on the Linear Inverted Pendulum

摘要：

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.

关键词： LIPM ZMP humanoid robot gait planning

作者: Fei Wang Yaning Wang Shiguang Wen Shuying Zhao

作者单位: College of Information Science and Engineering, Northeastern University, Shenyang Liaoning, 110819, China

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 986-990

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）