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

Jacky Baltes*, Patrick Lam

*此作品的通信作者

研究成果: 雜誌貢獻期刊論文同行評審

8 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
18
發行號7
DOIs
出版狀態已發佈 - 2004
對外發佈

ASJC Scopus subject areas

  • 軟體
  • 控制與系統工程
  • 人機介面
  • 硬體和架構
  • 電腦科學應用

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