Online trajectory generation for omnidirectional biped walking

Abstract

Abstract-This paper describes the online generation of trajectories for omnidirectional walking on two legs. The gait can be parameterized using walking direction, walking speed, and rotational speed. Our approach has a low computational complexity and can be implemented on small onboard computers.We tested the proposed approach using our humanoid robot Jupp. The competitions in the RoboCup soccer domain showed that omnidirectional walking has advantages when acting in dynamic environments.

Hierarchical Reactive Control for Soccer Playing Humanoid Robots

“…Shifting the weight from one leg to the other, shortening of the leg not needed for support, and leg motion in walking direction are the key ingredients of this gait. In contrast to the low-frequency gait of our 2005 robots (Behnke, 2006), we were able to increase the step frequency significantly to 3.45Hz for the KidSize robots and to 2.44Hz for Robotinho. Fig.…”

Balanced Walking with Capture Steps

“…Most of them are open-loop [12,13], sometimes with limited state feedback for posture control. Perhaps the most advanced closed-loop walk so far was presented for the Nao standard platform by Graf and Röfer [14], who proposed the online-adjustment of step parameters based on the solution of a system of linear pendulum equations.…”

RoboCup 2011 Humanoid League Winners

“…The lowest, fastest layer is responsible for generating motions, such as walking, kicking and the goalie dive. Our omnidirectional gait [9] is based on rhythmic lateral weight shifting and coordinated swinging of the non-supporting leg in walking direction. This open-loop gait is self-stable when undisturbed.…”