Paper Title:
Normalization-Based Omnidirectional Gait Planning for Small Humanoid Robot
  Abstract

The normalization method is utilized in this paper for gait planning of small humanoid robot, and hence generating the normalized trajectory curves for parameters such as three dimensional coordinates and rotation angle and achieving omni-directional legged locomotion of robot. The advantages of this method include less computational complexity of controller, on-line real-time planning of robot, and better stability in motion and flexibility in control. Test results demonstrate that the robot can walk stably towards all directions at the walking speed of 0.8km/h.

  Info
Periodical
Chapter
Chapter 9: Information System for Materials and Mechanics
Edited by
Linli Xu, Wenya Tian and Elwin Mao
Pages
1289-1294
DOI
10.4028/www.scientific.net/AMM.80-81.1289
Citation
G. D. Li, J. Y. Peng, K. P. Liu, X. J. Wang, "Normalization-Based Omnidirectional Gait Planning for Small Humanoid Robot", Applied Mechanics and Materials, Vols. 80-81, pp. 1289-1294, 2011
Online since
July 2011
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$32.00
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