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39

ICRA
2006
IEEE

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Online Trajectory Generation for Omnidirectional Biped Walking

14 years 5 months ago

Online Trajectory Generation for Omnidirectional Biped Walking

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Abstract— This paper describes the online generation of trajectories for omnidirectional walking on two legs. The gait can be parameterized using walking direction, walking speed, and rotational speed. Our approach has a low computational complexity and can be implemented on small onboard computers. We tested the proposed approach using our humanoid robot Jupp. The competitions in the RoboCup soccer domain showed that omnidirectional walking has advantages when acting in dynamic environments.

Sven Behnke

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Humanoid Robot Jupp | ICRA 2006 | Low Computational Complexity | Omnidirectional Walking | Robotics |

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Added	11 Jun 2010
Updated	11 Jun 2010
Type	Conference
Year	2006
Where	ICRA
Authors	Sven Behnke

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