Online trajectory generation for omnidirectional biped walking
S Behnke - … 2006 IEEE International Conference on Robotics …, 2006 - ieeexplore.ieee.org
Proceedings 2006 IEEE International Conference on Robotics and …, 2006•ieeexplore.ieee.org
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
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
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
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