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

Jacky Baltes; Patrick Lam

doi:10.1163/1568553041719528

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

Jacky Baltes, Patrick Lam

電機工程學系

研究成果: 雜誌貢獻 › 文章

7 引文斯高帕斯（Scopus）

摘要

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.

原文	英語
頁（從 - 到）	713-716
頁數	4
期刊	Advanced Robotics
卷	18
發行號	7
DOIs	https://doi.org/10.1163/1568553041719528
出版狀態	已發佈 - 2004 九月 23

指紋

ASJC Scopus subject areas

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

引用此

Baltes, J., & Lam, P. (2004). Design of walking gaits for Tao-Pie-Pie, a small humanoid robot. Advanced Robotics, 18(7), 713-716. https://doi.org/10.1163/1568553041719528

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存取文件

10.1163/1568553041719528