Nao Humanoid Robot Gait Planning Based on the Linear Inverted Pendulum

被引：0
|
作者：
Wang, Fei [1 ]
Wang, Yaning [1 ]
Wen, Shiguang [1 ]
Zhao, Shuying [1 ]
机构：
[1] Northeastern Univ, Coll Informat Sci & Engn, Shenyang 110819, Liaoning, Peoples R China
来源：
PROCEEDINGS OF THE 2012 24TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC) | 2012年
关键词：
LIPM; ZMP; humanoid robot; gait planning;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The gait planning of humanoid robot Nao is solved based on the linear inverted pendulum (LIPM) in this paper. The step length and period is selected according to the structure of Nao. LIPM model and ZMP is applied in the planning. An ideal gait data is obtained through simulation experiment, demonstrating the effectiveness of the LIPM model in the gait planning of the biped robot.
引用
收藏
页码：986 / 990
页数：5
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