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 | |
| 出版狀態 | 已發佈 - 2004 九月 23 |
指紋
ASJC Scopus subject areas
- Control and Systems Engineering
- Software
- Human-Computer Interaction
- Hardware and Architecture
- Computer Science Applications
引用此文
Design of walking gaits for Tao-Pie-Pie, a small humanoid robot. / Baltes, Hansjoerg (Jacky); Lam, Patrick.
於: Advanced Robotics, 卷 18, 編號 7, 23.09.2004, p. 713-716.研究成果: 雜誌貢獻 › 文章
}
TY - JOUR
T1 - Design of walking gaits for Tao-Pie-Pie, a small humanoid robot
AU - Baltes, Hansjoerg (Jacky)
AU - Lam, Patrick
PY - 2004/9/23
Y1 - 2004/9/23
N2 - 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.
AB - 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.
KW - Balancing
KW - Humanoid
KW - RoboCup
KW - Walking gait
UR - http://www.scopus.com/inward/record.url?scp=4544333985&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=4544333985&partnerID=8YFLogxK
U2 - 10.1163/1568553041719528
DO - 10.1163/1568553041719528
M3 - Article
AN - SCOPUS:4544333985
VL - 18
SP - 713
EP - 716
JO - Advanced Robotics
JF - Advanced Robotics
SN - 0169-1864
IS - 7
ER -