Design of walking gaits for Tao-Pie-Pie, a small humanoid robot

Jacky Baltes*, Patrick Lam

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

8 Citations (Scopus)


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 languageEnglish
Pages (from-to)713-716
Number of pages4
JournalAdvanced Robotics
Issue number7
Publication statusPublished - 2004
Externally publishedYes


  • Balancing
  • Humanoid
  • RoboCup
  • Walking gait

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Human-Computer Interaction
  • Hardware and Architecture
  • Computer Science Applications


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