Design of walking gaits for TAO-PIE-PIE, a small humanoid robot

Jacky Baltes, Patrick Lam

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper describes the methodology that we used to design and implement balancing and walking gaits for TAO-PIE-PIE, a small 30cm tall humanoid robot. TAO-PIE-PIE is a fully autonomous robot with all power, sensing, and processing done on-board. It is also a minimalistic design with only six degrees of freedom. Nevertheless, its performance is comparable to that of other more complex designs. The paper describes three patterns: (a) a straight walk, (b) a turn on the spot, and (c) a kicking pattern. Sensor feedback is provided by two gyroscopes that provide angular velocity in the left-right and forward-backward plane and a CMOS camera providing vision information. The feedback from the gyroscopes is not used to actively control the walking gait, because the signal is noisy and it would be computationally to expensive for the current processor hardware. Instead, coarse feedback from the gyroscopes is used to monitor the transition from one phase of the pattern to the next. TAO-PIE-PIE proved to be a successful design winning a number of honors at international competitions.

Original languageEnglish
Title of host publicationRoboCup 2003
Subtitle of host publicationRobot Soccer World Cup VII
EditorsKazuo Yoshida, Daniel Polani, Brett Browning, Andrea Bonarini
PublisherSpringer Verlag
Pages355-365
Number of pages11
ISBN (Print)3540224432, 9783540224433
Publication statusPublished - 2004 Jan 1
Event7th Robot World Cup Soccer and Rescue Competitions and Conferences, RoboCup 2003 - Padua, Italy
Duration: 2003 Jul 22003 Jul 11

Publication series

NameLecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
Volume3020
ISSN (Print)0302-9743

Other

Other7th Robot World Cup Soccer and Rescue Competitions and Conferences, RoboCup 2003
CountryItaly
CityPadua
Period03/7/203/7/11

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ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

Cite this

Baltes, J., & Lam, P. (2004). Design of walking gaits for TAO-PIE-PIE, a small humanoid robot. In K. Yoshida, D. Polani, B. Browning, & A. Bonarini (Eds.), RoboCup 2003: Robot Soccer World Cup VII (pp. 355-365). (Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science); Vol. 3020). Springer Verlag.