NDLI: An omnidirectional walk for a biped robot based on gyroscope-accelerometer measurement

Content Provider	IEEE Xplore Digital Library
Author	Zhiwei Liang Hecheng Zhao Yue Hao
Copyright Year	2014
Description	Author affiliation: Coll. of Autom., Nanjing Univ. of Posts & Telecommun., Nanjing, China (Zhiwei Liang; Hecheng Zhao; Yue Hao)
Abstract	Humanoid robot soccer players should respond to the rapid change of the environment with the fastest reactions when engaged in real time game. In this paper, we mainly propose an approach of implementing an omnidirectional walk for a biped robot under an attitude estimation system based on the measurements of its gyroscope and accelerometer. We build a dual-linear inverted pendulum with a preview control to generate the trajectory of the center of mass(CoM) in the context of keeping a dynamic balance, as well as a pose analyse system to deal with the instability. Used by our Apollo3D team in the RoboCup 3D soccer simulation competition, this omnidirectional walking approach is proved to be feasible and advantageous.
Starting Page	1052
Ending Page	1057
File Size	1007506
Page Count	6
File Format	PDF
ISBN	9781479939787
e-ISBN	9781479939794
DOI	10.1109/ICMA.2014.6885843
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-08-03
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Mathematical model Foot Joints Noise Gyroscopes Feedback balancing Robot soccer Preview control Inverted pendulum
Content Type	Text
Resource Type	Article

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