Open document
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General information |
| Author |
Shahbazi, Hamed; Jamshidi, Kamal; Monadjemi, Amir Hasan |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
In the present article, a method for generating
curvilinear bipedal walking patterns is proposed
which is able to generate rhythmic and periodic
trajectories for a Nao soccer player robot. To do so, a
programmable central pattern generator was used
which was inspired from locomotion structures in
vertebrate animals. In this paper, the programmable
central pattern generators were extended and new
Equations were added to make a curvilinear pattern
for walking Nao robots on a specified circular curve. In
addition, some specific Equations were added to the
model to control the arms and synchronize them with
the movement of the feet. The model uses some
sensory inputs to obtain some feedback from the
movement and adjust it conforming to the potential
perturbations. Input sensory values consist of
accelerator values and foot pressure sensor values
located on the bottom of each foot. Feedback values
can adopt walking to some desired specifications and
compensate the effects of some types of perturbations.
The proposed model has many benefits including
smooth walking patterns and modulation during
walking. This model can be extended and used in the
Nao soccer player both for the standard platform and
the 3D soccer simulation leagues of Robocup SPL
competitions to train different types of motions. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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