1 research outputs found
A Fast and Stable Omnidirectional Walking Engine for the Nao Humanoid Robot
This paper proposes a framework designed to generate a closed-loop walking
engine for a humanoid robot. In particular, the core of this framework is an
abstract dynamics model which is composed of two masses that represent the
lower and the upper body of a humanoid robot. Moreover, according to the
proposed dynamics model, the low-level controller is formulated as a
Linear-Quadratic-Gaussian (LQG) controller that is able to robustly track the
desired trajectories. Besides, this framework is fully parametric which allows
using an optimization algorithm to find the optimum parameters. To examine the
performance of the proposed framework, a set of simulation using a simulated
Nao robot in the RoboCup 3D simulation environment has been carried out.
Simulation results show that the proposed framework is capable of providing
fast and reliable omnidirectional walking. After optimizing the parameters
using genetic algorithm (GA), the maximum forward walking velocity that we have
achieved was