Nao humanoid robot gait planning based on the linear inverted pendulum

2012 ◽  
Author(s):  
Fei Wang ◽  
Yaning Wang ◽  
Shiguang Wen ◽  
Shuying Zhao
Keyword(s):  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Gait Planning

scholarly journals Smooth and Energy Saving Gait Planning for Humanoid Robot Using Geodesics

2012 ◽  
Vol 9 (4) ◽  
pp. 457-467 ◽  
Author(s):  
Liandong Zhang ◽  
Changjiu Zhou
Keyword(s):  
Kinetic Energy ◽  
Energy Saving ◽  
Humanoid Robot ◽  
Inverted Pendulum ◽  
Planning Method ◽  
Riemannian Surface ◽  
Gait Planning ◽  
Optimal Gait ◽  
Single Support Phase ◽  
Support Phase

A novel gait planning method using geodesics for humanoid robot is given in this paper. Both the linear inverted pendulum model and the exact Single Support Phase (SSP) are studied in our energy optimal gait planning based on geodesics. The kinetic energy of a 2-dimension linear inverted pendulum is obtained at first. We regard the kinetic energy as the Riemannian metric and the geodesic on this metric is studied and this is the shortest line between two points on the Riemannian surface. This geodesic is the optimal kinetic energy gait for the COG because the kinetic energy along geodesic is invariant according to the geometric property of geodesics and the walking is smooth and energy saving. Then the walking in Single Support Phase is studied and the energy optimal gait for the swing leg is obtained using our geodesics method. Finally, experiments using state-of-the-art method and using our geodesics optimization method are carried out respectively and the corresponding currents of the joint motors are recorded. With the currents comparing results, the feasibility of this new gait planning method is verified.

Controlled Gait Planning of Humanoid Robot NAO Based on 3D-LIPM Model

2020 ◽  
Author(s):  
Abhishek Kumar Kashyap ◽  
Anish Pandey ◽  
Animesh Chhotray ◽  
Dayal R. Parhi
Keyword(s):  
Humanoid Robot ◽  
Gait Planning
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