LOCOMOTION
Nao humanoid robot gait planning based on the linear inverted pendulum
Fei Wang, Yaning Wang, Shiguang Wen, Shuying Zhao
- Year
- 2012
- Citations
- 7
Abstract
The gait planning of humanoid robot Nao is solved based on the linear inverted pendulum (LIPM) in this paper. The step length and period is selected according to the structure of Nao. LIPM model and ZMP is applied in the planning. An ideal gait data is obtained through simulation experiment, demonstrating the effectiveness of the LIPM model in the gait planning of the biped robot.
Keywords
Inverted pendulumHumanoid robotGaitComputer scienceControl theory (sociology)RobotGait cycleSimulationPhysical medicine and rehabilitationArtificial intelligence
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