Design of walking gaits for TAO-PIE-PIE, a small humanoid robot

Jacky Baltes, Patrick Lam

研究成果: 書貢獻/報告類型會議論文篇章

摘要

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.

原文英語
主出版物標題RoboCup 2003
主出版物子標題Robot Soccer World Cup VII
編輯Daniel Polani, Brett Browning, Andrea Bonarini, Kazuo Yoshida
發行者Springer Verlag
頁面355-365
頁數11
ISBN(列印)3540224432, 9783540224433
DOIs
出版狀態已發佈 - 2004
事件7th Robot World Cup Soccer and Rescue Competitions and Conferences, RoboCup 2003 - Padua, 意大利
持續時間: 2003 七月 22003 七月 11

出版系列

名字Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science)
3020
ISSN(列印)0302-9743

其他

其他7th Robot World Cup Soccer and Rescue Competitions and Conferences, RoboCup 2003
國家/地區意大利
城市Padua
期間2003/07/022003/07/11

ASJC Scopus subject areas

  • 理論電腦科學
  • 電腦科學(全部)

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