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

^*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
卷	18
發行號	7
DOIs	https://doi.org/10.1163/1568553041719528
出版狀態	已發佈 - 2004
對外發佈	是

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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10.1163/1568553041719528

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

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ASJC Scopus subject areas

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