Abstract:The effective and accurate walking is the biggest challenge for humanoid robot locomotion. In dynamic environments, such as RoboCup competition, not only must the speed of actions be high, but action switching must also be done almost immediately. This paper concentrates on two major behavior actions of humanoid soccer robot; straight walking and turning actions. Matsuoka central pattern generator model is used to generate trajectory actions. Both actions have their own parameters, which are obtained by compre… Show more
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