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Fast, Robust and Versatile Humanoid Robot Locomotion with Minimal Sensor Input

Scholz, Dorian and Friedmann, Martin and Stryk, Oskar von and Stryk, Oskar von (2009):
Fast, Robust and Versatile Humanoid Robot Locomotion with Minimal Sensor Input.
In: Proc. 4th Workshop on Humanoid Soccer Robots at the 2009 IEEE-RAS Int. Conf. on Humanoid Robots, Paris, [Conference or Workshop Item]

Abstract

The generation of fast and robust locomotion is one of the crucial problems to be solved for a competitive autonomous humanoid soccer robot. During the last decades many different approaches to solve this problem have been investigated. In this paper a simplified yet powerful approach for generation of locomotion for an autonomous humanoid robot is described. It is based on an open loop trajectory generation with an overlying gyroscope-based closed loop postural stabilization. Unlike other widely used approaches in humanoid robotics the trajectory generation is completely decoupled from the stabilization algorithm, thus simplifying design, implementation and testing of either algorithm. The only sensor required for postural stabilization is a two axis gyroscope in the robot"s hip. No further sensors like foot-ground contact or force sensors, which are typically applied in many other approaches, are required. Nevertheless the presented approach exhibits remarkable performance. Furthermore this approach can be implemented easily in many available robots without complex modifications of the hardware. Experimental results for various types of locomotion are presented for two different robots used in the 2009 RoboCup Humanoid KidSize competition.

Item Type: Conference or Workshop Item
Erschienen: 2009
Creators: Scholz, Dorian and Friedmann, Martin and Stryk, Oskar von and Stryk, Oskar von
Title: Fast, Robust and Versatile Humanoid Robot Locomotion with Minimal Sensor Input
Language: English
Abstract:

The generation of fast and robust locomotion is one of the crucial problems to be solved for a competitive autonomous humanoid soccer robot. During the last decades many different approaches to solve this problem have been investigated. In this paper a simplified yet powerful approach for generation of locomotion for an autonomous humanoid robot is described. It is based on an open loop trajectory generation with an overlying gyroscope-based closed loop postural stabilization. Unlike other widely used approaches in humanoid robotics the trajectory generation is completely decoupled from the stabilization algorithm, thus simplifying design, implementation and testing of either algorithm. The only sensor required for postural stabilization is a two axis gyroscope in the robot"s hip. No further sensors like foot-ground contact or force sensors, which are typically applied in many other approaches, are required. Nevertheless the presented approach exhibits remarkable performance. Furthermore this approach can be implemented easily in many available robots without complex modifications of the hardware. Experimental results for various types of locomotion are presented for two different robots used in the 2009 RoboCup Humanoid KidSize competition.

Title of Book: Proc. 4th Workshop on Humanoid Soccer Robots at the 2009 IEEE-RAS Int. Conf. on Humanoid Robots
Place of Publication: Paris
Uncontrolled Keywords: Humanoid Motion Generation, RoboCup
Divisions: 20 Department of Computer Science
20 Department of Computer Science > Simulation, Systems Optimization and Robotics Group
Date Deposited: 20 Jun 2016 23:26
Identification Number: 2009:ScholzFriedmannVonStryk_WsHumSoc
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