Online Trajectory Generation for Omnidirectional Biped Walking

• Author: Sven Behnke
  


• In Proceedings of  2006 IEEE International Conference on Robotics and Automation (ICRA'06),  pp. 1597-1603, Orlando, Florida, May 2006.
  
  
• Abstract:
  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.
  
  
• Paper: icra06_behnke.pdf (638KB)