Self-stable Omnidirectional Walking with Compliant Joints

نویسندگان

  • Marcell Missura
  • Sven Behnke
چکیده

Bipedal walking is one of the most essential skills in humanoid robot soccer. A stable and fast gait gives teams a winning edge when their robots are the first at the ball, maintain ball control with sure feet, and drive the ball decisively towards the opponent goal. The most successful teams in the Humanoid League are typically characterized by reliably walking robots. In this contribution, we describe the omnidirectional gait of team NimbRo, one of the most successful robot soccer teams in the history of RoboCup. The walk algorithm is open-loop and model-free. It is based on highly configurable, centralpattern-generated rhythmic motion signals and combines well with a compliant servo setting to achieve a relatively high level of self-stability. We discuss the advantages of this approach in comparison with methods of other successful teams and support our argumentation with experimental results.

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تاریخ انتشار 2013