Abstract
The methodology to design and implement balancing and walking gaits for Tao-Pie-Pie, a small 30-cm tall humanoid robot was presented. Tao-Pie-Pie is a fully autonomous robot with all power, sensing and processing done on-board. It is also minomalistic design with only 6 d.o.f. Sensor feedback was provided by two gyroscopes that provide angular velocity in the lateral and saggital plane, and a CMOS camera providing vision information. Tao-Pie-Pie uses Bezier curves to interpolate settings between the control points.
| Original language | English |
|---|---|
| Pages (from-to) | 713-716 |
| Number of pages | 4 |
| Journal | Advanced Robotics |
| Volume | 18 |
| Issue number | 7 |
| DOIs | |
| Publication status | Published - 2004 |
| Externally published | Yes |
Keywords
- Balancing
- Humanoid
- RoboCup
- Walking gait
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Human-Computer Interaction
- Hardware and Architecture
- Computer Science Applications