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Omnidirectional Walking and Active Balance for Soccer Humanoid Robot [chapter]

Nima Shafii, Abbas Abdolmaleki, Rui Ferreira, Nuno Lau, Luís Paulo Reis
2013 Lecture Notes in Computer Science  
In this paper, we present an omnidirectional walk engine, which mainly consist of a Foot planner, a ZMP and Center of Mass (CoM) generator and an Active balance loop.  ...  Our results are encouraging given that the robot has been able to walk fast and stably in any direction with performances that compare well to the best RoboCup 2012 3D Simulation teams.  ...  This paper presents an implementation of an omnidirectional walk engine augmented with an active balance method for the NAO humanoid robot.  ... 
doi:10.1007/978-3-642-40669-0_25 fatcat:75gckoncsbbqfihtiffjhbamki

An Open Loop Walking on Different Slopes for NAO Humanoid Robot

Amir Massah B, Arman Sharifi K., Yaser Salehinia, Farid Najafi
2012 Procedia Engineering  
Dynamic gait planning for humanoid robots encounters difficulties such as stability, speed, and smoothness.  ...  In this study, a trajectory planner is presented using the semi-ellipse equations of the motion; the continuity of the derivatives is preserved.  ...  Conclusions In this paper, a trajectory planner proposed to attain a dynamic walking for NAO humanoid robot in three slope conditions.  ... 
doi:10.1016/j.proeng.2012.07.176 fatcat:ttfadctykfe7bnnymlxcoeutze

Gait Optimization Method for Humanoid Robots Based on Parallel Comprehensive Learning Particle Swarm Optimizer Algorithm

Chongben Tao, Jie Xue, Zufeng Zhang, Feng Cao, Chunguang Li, Hanwen Gao
2021 Frontiers in Neurorobotics  
To improve the fast and stable walking ability of a humanoid robot, this paper proposes a gait optimization method based on a parallel comprehensive learning particle swarm optimizer (PCLPSO).  ...  The experimental results show that the PCLPSO algorithm achieves a quickly optimal solution, and the humanoid robot optimized possesses a fast and steady gait and flexible steering ability.  ...  ZZ: funding acquisition, project administration, and supervision. FC and HG: investigation. CL: validation. All authors contributed to the article and approved the submitted version.  ... 
doi:10.3389/fnbot.2020.600885 pmid:33519412 pmcid:PMC7843375 fatcat:cxuaoicen5exnfnj45qp4kxkii

Motion planning for omnidirectional dynamic gait in humanoid soccer robots

Juan José Alcaraz Jiménez, David Herrero Pérez, Humberto Martínez Barberá
2011 Journal of Physical Agents (JoPha)  
This paper deals with the problem of planning the Center of Mass (CoM) trajectory of a humanoid robot while its feet follow an omnidirectional walking pattern.  ...  The experimental results show that the proposed method permits on-line calculation of omnidirectional stable trajectories in the commercial humanoid platform NAO, which has limited computational resources  ...  The humanoid robot Nao has 21 degrees of freedom (DoF ) depicted in Fig. 8 : two DoF for the head, four DoF for each arm and six DoF for each leg.  ... 
doi:10.14198/jopha.2011.5.1.04 fatcat:tkldy7zizbgkroib2ewvnoulqy

Omnidirectional Walking Using ZMP and Preview Control for the NAO Humanoid Robot [chapter]

Johannes Strom, George Slavov, Eric Chown
2010 Lecture Notes in Computer Science  
Fast-paced dynamic environments like robot soccer require highly responsive and dynamic locomotion. We present an implementation of an omnidirectional ZMP-based walk engine for the Nao robot.  ...  Walk direction can be changed quickly to suit a dynamic environment by adjusting the future step pattern.  ...  This article presents a successful implementation of an omnidirectional walk engine on the Nao robot used in the Standard Platform league. I y x Fig. 1 .  ... 
doi:10.1007/978-3-642-11876-0_33 fatcat:s7san4yflnbqjf47huqjtch6fu

UT Austin Villa RoboCup 3D Simulation Base Code Release [chapter]

Patrick MacAlpine, Peter Stone
2017 Lecture Notes in Computer Science  
Additionally the code release offers a foundational platform for conducting research in multiple areas including robotics, multiagent systems, and machine learning. 10  ...  The code release, based off the 2015 UT Austin Villa RoboCup champion agent, but with some features such as high level strategy removed, provides a fully functioning agent and good starting point for new  ...  Acknowledgments This code release is based upon the work of all past UT Austin Villa RoboCup 3D simulation team members. We thank all the previous team members for their important contributions.  ... 
doi:10.1007/978-3-319-68792-6_11 fatcat:saq7mr6xxvhq5jebmyuwubnzoq

Robust Biped Locomotion Using Deep Reinforcement Learning on Top of an Analytical Control Approach [article]

Mohammadreza Kasaei, Miguel Abreu, Nuno Lau, Artur Pereira, Luis Paulo Reis
2021 arXiv   pre-print
The results validate the performance of the framework, not only in creating a fast and stable gait but also in learning to improve the upper body efficiency.  ...  The core of this framework is a specific dynamics model which abstracts a humanoid's dynamics model into two masses for modeling upper and lower body.  ...  The performance of their walk engine engine has been validated by showing a fast and stable omnidirectional walk using a simulated Nao robot in Simspark (59cm/s).  ... 
arXiv:2104.10592v1 fatcat:ulkxmgotivdsrjdnysqimer7b4

Humanoid navigation and heavy load transportation in a cluttered environment

Antoine Rioux, Wael Suleiman
2015 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Experiments conducted on a real Nao robot assessed the proposed approach and algorithms, they show that the payload of a humanoid robot can be significantly increased without changing the humanoid robot's  ...  In this work, we present algorithms for a humanoid robot navigating in a cluttered environment while pushing a cart-like object.  ...  As the walking pattern trajectory for a humanoid robot cannot be changed instantly, a time interval t c is required to change the planned footprints.  ... 
doi:10.1109/iros.2015.7353669 dblp:conf/iros/RiouxS15 fatcat:gdoq35psqjdfpjvgvoqwk25hny

RoboCup 2011 Humanoid League Winners [chapter]

Daniel D. Lee, Seung-Joon Yi, Stephen McGill, Yida Zhang, Sven Behnke, Marcell Missura, Hannes Schulz, Dennis Hong, Jeakweon Han, Michael Hopkins
2012 Lecture Notes in Computer Science  
Elementary skills, such as bipedal walking, visual perception, and collision avoidance have matured enough to allow for dynamic and exciting games.  ...  Over the past few years, soccer-playing humanoid robots advanced significantly.  ...  Acknowledgements: The authors would like to recognize the National Science Foundation and the Office of Naval Research for partially supporting this work through grants CNS 0958406 and ONR 45006.  ... 
doi:10.1007/978-3-642-32060-6_4 fatcat:unqxxai64zctvl3cnsa5qftxbm

The Walking Skill of Apollo3D – The Champion Team in the RoboCup2013 3D Soccer Simulation Competition [chapter]

Juan Liu, Zhiwei Liang, Ping Shen, Yue Hao, Hecheng Zhao
2014 Lecture Notes in Computer Science  
Quick and flexible walking is an indispensable skill for humanoid robots in the RoboCup soccer competition.  ...  So this paper mainly proposed a method to develop a flexible walking based on reinforcement learning for humanoid robots, which used Cerebellar Model Articulation Controller(CMAC) method and a linear inverted  ...  The Walking Skill of Apollo3D  ... 
doi:10.1007/978-3-662-44468-9_10 fatcat:kajwe5npi5er7dj7k456q7spaa

WrightEagle and UT Austin Villa: RoboCup 2011 Simulation League Champions [chapter]

Aijun Bai, Xiaoping Chen, Patrick MacAlpine, Daniel Urieli, Samuel Barrett, Peter Stone
2012 Lecture Notes in Computer Science  
The RoboCup simulation league is traditionally the league with the largest number of teams participating, both at the international competitions and worldwide. 2011 was no exception, with a total of 39  ...  teams entering the 2D and 3D simulation competitions.  ...  Acknowledgments The authors would like to thank the additional contributing members of WrightEagle  ... 
doi:10.1007/978-3-642-32060-6_1 fatcat:lsgbnjthivct3b3kq36at7x46i

A Machine Learning Approach for Improving the Movement of Humanoid NAO's Gaits

Fatmah Abdulrahman Baothman, Deepak Gupta
2021 Wireless Communications and Mobile Computing  
NAO is a humanoid bipedal robot designed to participate in football competitions against humans by 2050, and speed is crucial for football sports.  ...  A humanoid robot's development requires an incredible combination of interdisciplinary work from engineering to mathematics, software, and machine learning.  ...  The project is funded by the National Plan for Science, Technology, and Innovation (MAARI-FAH), King Abdulaziz City for Science and Technology, the Kingdom of Saudi Arabia (award number (03-INF188-08))  ... 
doi:10.1155/2021/1496364 fatcat:qp6zh4jnu5etnfek5kl36p3awy

Workspace Trajectory Generation Method for Humanoid Adaptive Walking with Dynamic Motion Primitives

Chengju Liu, Wandong Geng, Ming Liu, Qijun Chen
2020 IEEE Access  
To properly function in real-world environments, a humanoid robot must be able to adapt its walking gait to new situations.  ...  This work addresses the challenge of adaptive locomotion by implementing DMPs in the workspace of a humanoid robot.  ...  of the NAO robot and the walking surface.  ... 
doi:10.1109/access.2020.2976098 fatcat:j33ulchmzvem5btcrekk7nfpni

Humanoid navigation with dynamic footstep plans

Johannes Garimort, Armin Hornung, Maren Bennewitz
2011 2011 IEEE International Conference on Robotics and Automation  
In experiments in simulation and with a real Nao humanoid, we demonstrate the effectiveness of the footstep plans computed and revised by our method.  ...  Since changes in the environment may appear and a humanoid may deviate from its originally planned path due to imprecise motion execution or slippage on the ground, the robot might be forced to dynamically  ...  Nao's walking engine uses a linear inverted pendulum model to generate stable gaits [20] . The walking engine can be controlled with omnidirectional velocities.  ... 
doi:10.1109/icra.2011.5979656 dblp:conf/icra/GarimortHB11 fatcat:jbroqwvwyvb4hgj6mkdagbtmm4

A Center of Mass Observing 3D-LIPM Gait for the RoboCup Standard Platform League Humanoid [chapter]

Colin Graf, Thomas Röfer
2012 Lecture Notes in Computer Science  
In this paper, we present a walking approach for the Nao robot that improves the agility and stability of the robot when walking on a flat surface such as the soccer field used in the Standard Platform  ...  In addition, the method aims at facilitating a preferably fast walk while reducing the load on the joints.  ...  Acknowledgment The authors would like to thank all B-Human team members for providing the software base for this work.  ... 
doi:10.1007/978-3-642-32060-6_9 fatcat:oyg6aifbfnaaxjpabl26kce2um
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