Omni-directional closed-loop walk for NAO

Gouaillier, David; Collette, Cyrille; Kilner, Chris

doi:10.1109/ichr.2010.5686291

Cited by 90 publications

(66 citation statements)

References 13 publications

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“…7, it can be observed that the left knee angles of the robot did not appear to match to those of the reference skeleton, e.g., during toe off. There are two causes to this difference: 1) the constraint on KneePitch angle, in (15), and 2) the constraint on swing foot positions, in (12). The former limits the change of KneePitch angle within a predefined range while the latter limits a swing foot height to be between the ground level and maximum swing foot height.…”

Section: B Experimental Resultsmentioning

confidence: 99%

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Imitation of Dynamic Walking with BSN for a Humanoid Robot

Teachasrisaksakul

Zhang

Yang

et al. 2015

IEEE J. Biomed. Health Inform.

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Section: B Experimental Resultsmentioning

confidence: 99%

“…example, Gouaillier et al [12] generated an omni-directional walking motion for NAO robot based on a preview controller. Massah et al [13] introduced a method for planning the robot's walking on slopes.…”

Section: Introductionmentioning

confidence: 99%

Imitation of Dynamic Walking with BSN for a Humanoid Robot

Teachasrisaksakul

Zhang

Yang

et al. 2015

IEEE J. Biomed. Health Inform.

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“…This calculation could be especially useful for walking algorithms that embed closed loop control of torso inclination like the technique adopted by Gouaillier et al [16] or the one used by Glaser et al [17] for the NAO robot. However, if we take the same foot trajectory shape for the inclined torso as for the straight torso to design longitudinal and lateral walking patterns where feet remain parallel, the coupled yaw-pitch joint must also be controlled, this is because the roll axis at the hip is no more horizontal and therefore cannot move the foot in the frontal plane without actuating the coupled joint.…”

Section: Discussionmentioning

confidence: 99%

Analytical Solution for Joint Coupling in NAO Humanoid Hips

Hugel

Jouandeau

2015

RoboCup 2014: Robot World Cup XVIII

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Abstract. Usually the legs of humanoids capable of omnidirectional walking are not underactuated. In other words each one of the six degrees of freedom of the torso can be commanded independently from the leg joint angles. However the NAO humanoid robot has a coupled joint at the hips, which makes 11 degrees of freedom instead of 12 for the locomotor apparatus. As a consequence the trunk of the robot has only 5 independent degrees of freedom when the positions of both feet are xed, and each leg cannot be commanded independently to execute walking steps. Up to now only bypass solutions have been proposed, where the coupled joint angles are not calculated exactly. This paper describes an analytical solution to determine the exact angle to be applied to the coupled joint. The method uses the positions of both foot ankles in the trunk reference frame and the angle between footprints as inputs, and calculates the yaw angle of the trunk. The solution was demonstrated in a dynamics simulator using the NAO model.

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“…This method has been successfully implemented in the NAO humanoid robot as its core WPG (Gouaillier et al, 2010).…”

Section: 1mentioning

confidence: 99%

Vision based persistent localization of a humanoid robot for locomotion tasks

Castelán

Arechavaleta

2016

International Journal of Applied Mathematics and Computer Science

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Typical monocular localization schemes involve a search for matches between reprojected 3D world points and 2D image features in order to estimate the absolute scale transformation between the camera and the world. Successfully calculating such transformation implies the existence of a good number of 3D points uniformly distributed as reprojected pixels around the image plane. This paper presents a method to control the march of a humanoid robot towards directions that are favorable for visual based localization. To this end, orthogonal diagonalization is performed on the covariance matrices of both sets of 3D world points and their 2D image reprojections. Experiments with the NAO humanoid platform show that our method provides persistence of localization, as the robot tends to walk towards directions that are desirable for successful localization. Additional tests demonstrate how the proposed approach can be incorporated into a control scheme that considers reaching a target position.

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Omni-directional closed-loop walk for NAO

Cited by 90 publications

References 13 publications

Imitation of Dynamic Walking with BSN for a Humanoid Robot

Imitation of Dynamic Walking with BSN for a Humanoid Robot

Analytical Solution for Joint Coupling in NAO Humanoid Hips

Vision based persistent localization of a humanoid robot for locomotion tasks

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