| Design and implementation of omni-directional walking system for humanoid robot | |
|---|---|
| 學年 | 101 |
| 學期 | 1 |
| 發表日期 | 2012-08-20 |
| 作品名稱 | Design and implementation of omni-directional walking system for humanoid robot |
| 作品名稱（其他語言） | |
| 著者 | Cheng, Chi-tai; Wang, Ching-chang; Chen, Hao-che; Hu, Yueh-yang; Tseng, I-hsiang |
| 作品所屬單位 | 淡江大學電機工程學系 |
| 出版者 | |
| 會議名稱 | 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress (FIRA-TAROS 2012 Congress) |
| 會議地點 | Bristol, England, United Kingdom |
| 摘要 | An omni-direction walking system for humanoid robot is presented in this paper. This method combines a mark time motion and a walking trajectory planning system. Three sub-motions, including leg shifting, leg lifting and leg opening, with same frequency are proposed to accomplish the mark time motion. The proposed omni-directional walking system is established to make robot walk fast in the soccer field. |
| 關鍵字 | Omni-directional Walking;Zero-motion point;humanoid robot;Autonomous robots |
| 語言 | en |
| 收錄於 | |
| 會議性質 | 國際 |
| 校內研討會地點 | |
| 研討會時間 | 20120820~20120825 |
| 通訊作者 | |
| 國別 | GBR |
| 公開徵稿 | Y |
| 出版型式 | |
| 出處 | Lecture Notes in Computer Science 7429 Advances in autonomous robotics : joint proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, pp.428-429 |
| 相關連結 |
機構典藏連結 ( http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/79544 ) |
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