TY - GEN
T1 - Design of walking gaits for TAO-PIE-PIE, a small humanoid robot
AU - Baltes, Jacky
AU - Lam, Patrick
N1 - Publisher Copyright:
© Springer-Verlag Berlin Heidelberg 2004.
PY - 2004
Y1 - 2004
N2 - 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.
AB - 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.
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U2 - 10.1007/978-3-540-25940-4_31
DO - 10.1007/978-3-540-25940-4_31
M3 - Conference contribution
AN - SCOPUS:84943327637
SN - 3540224432
SN - 9783540224433
T3 - Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
SP - 355
EP - 365
BT - RoboCup 2003
A2 - Polani, Daniel
A2 - Browning, Brett
A2 - Bonarini, Andrea
A2 - Yoshida, Kazuo
PB - Springer Verlag
T2 - 7th Robot World Cup Soccer and Rescue Competitions and Conferences, RoboCup 2003
Y2 - 2 July 2003 through 11 July 2003
ER -