Omnidirectional Walk of Biped Robots in RoboCup3D Simulation Environment

This paper mainly describes the omnidirectional walking motion design of humanoid robot soccer team called Apollo3D. In this paper, we employed a model which is based on double linear inverted pendulum with a predictive control to generate a motion trajectory of the robot's trunk in the premise of keeping dynamic balance of robots. Parameters for walk are optimized for maximum speed through an approach of Q-learning algorithm. With this walking skill, ultimately, we realized rapidly and stably omnidirectional walk of biped robot in complex and dynamic environment. Experimental results have revealed the effectiveness of the proposed design method in this paper.