An omnidirectional walk for a biped robot based on gyroscope-accelerometer measurement

Abstract

Humanoid robot soccer players should respond to the rapid change of the environment with the fastest reactions when engaged in real time game. In this paper, we mainly propose an approach of implementing an omnidirectional walk for a biped robot under an attitude estimation system based on the measurements of its gyroscope and accelerometer. We build a dual-linear inverted pendulum with a preview control to generate the trajectory of the center of mass(CoM) in the context of keeping a dynamic balance, as well as a pose analyse system to deal with the instability. Used by our Apollo3D team in the RoboCup 3D soccer simulation competition, this omnidirectional walking approach is proved to be feasible and advantageous.