Omnidirectional Walking and Active Balance for Soccer Humanoid Robot

• Type: Article in International Conference Proceedings Book
• Date: 2013

Authors

shafii, n (Author) Other; abdolmaleki, a (Author) Other; ferreira, r (Author) Other; lau, n (Author) Other; reis, lp (Author) FEUP

Conference proceedings International

Title: PROGRESS IN ARTIFICIAL INTELLIGENCE, EPIA 2013

Pages: 283-294

16th Portuguese Conference on Artificial Intelligence (EPIA)

Angra do Heroismo, PORTUGAL, SEP 09-12, 2013

Indexing

ISI Web of Knowledge - 8 Citations

Scopus - 12 Citations

Scientific classification

FOS: Natural sciences > Computer and information sciences

Other information

Authenticus ID: P-008-EFK

DOI: 10.1007/978-3-642-40669-0_25

Abstract (EN): Soccer Humanoid robots must be able to fulfill their tasks in a highly dynamic soccer field, which requires highly responsive and dynamic locomotion. It is very difficult to keep humanoids balance during walking. The position of the Zero Moment Point (ZMP) is widely used for dynamic stability measurement in biped locomotion. In this paper, we present an omnidirectional walk engine, which mainly consist of a Foot planner, a ZMP and Center of Mass (CoM) generator and an Active balance loop. The Foot planner, based on desire walk speed vector, generates future feet step positions that are then inputs to the ZMP generator. The cart-table model and preview controller are used to generate the CoM reference trajectory from the predefined ZMP trajectory. An active balance method is presented which keeps the robot's trunk upright when faced with environmental disturbances. We have tested the biped locomotion control approach on a simulated NAO robot. Our results are encouraging given that the robot has been able to walk fast and stably in any direction with performances that compare well to the best RoboCup 2012 3D Simulation teams.

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 12