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
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