NDLI: Walking patterns for real time path planning simulation of humanoids

Content Provider	IEEE Xplore Digital Library
Author	Hugel, V. Jouandeau, N.
Copyright Year	2012
Description	Author affiliation: Engineering System Lab (LISV), Université de Versailles, 10/12 av. Europe, 78140 Vélizy - France (Hugel, V.) \|\| Advanced Computer Science Lab (LIASD), Université Paris 8, 2 rue de la Liberté, 93526 Saint-Denis Cedex 02, France (Jouandeau, N.)
Abstract	We present here a detailed description of the walking algorithm that was designed for 3D simulation of locomotion and path planning of humanoid robots. The walking patterns described were implemented on NAO humanoid models that are used in the 3D simulation league of RoboCup to play soccer. The locomotion algorithm is based on the well known 3D-LIP model that consists of defining walking primitives of the center of mass, keeping its height constant and assuming no torque at the support foot. This paper proposes to detail how to connect the walking primitives, especially at the start of the walk. The second added value of this work resides in the rotation walking primitives that are generated differently from the linear translation walking primitives. This enables the robot to achieve fast rotation on the spot or about a center located on the longitudinal axis. The paper also addresses the issue of re-entrance, i.e. how to take into account a new walking request in real time without waiting for the end of the current walk.
Starting Page	424
Ending Page	430
File Size	1233322
Page Count	7
File Format	PDF
ISBN	9781467346047
ISSN	19449445
e-ISBN	9781467346061
e-ISBN	9781467346054
DOI	10.1109/ROMAN.2012.6343789
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-09-09
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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