On the Constrained Walking of the NAO Humanoid Robot

Fierro, Jesus E.; Pamanes, J. Alfonso; Moreno, Héctor; Núñez, Víctor

doi:10.1007/978-3-319-54377-2_2

Cited by 3 publications

(1 citation statement)

References 14 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The double support period allows avoiding jumps of accelerations of bodies in such a way that the ZMP smoothly transfers from the former support to the new support [9]. On the other hand, in the specific case of the Nao an advantage could be taken of the DSP because, during the period employed for that phase, the conditions for an elemental walking of the robot [10] could be accomplished. That is why in this paper a strategy based on the inclusion of a DSP is considered to try to improve the stability of the Nao's walking.…”

Section: Introductionmentioning

confidence: 99%

Cycloidal Gait With Double Support Phase for the Nao Humanoid Robot

Fierro

De-León-Gómez

2019

EUREKA: Physics and Engineering

View full text Add to dashboard Cite

The commercial Nao humanoid robot has 11 DOF in legs. Even if these legs include 12 revolute joints, only 11 actuators are employed to control the walking of the robot. Under such conditions, the mobility of the pelvis and that of the oscillating foot are mutually constrained at each step. Besides, the original gait provided by the manufacturer company of the Nao employs only single support phases during the walking. Because of both issues, the reduced mobility in legs and the use of only single support phases, the stability of the walking is affected. To contribute to improving such stability, in this paper an approach is proposed that incorporates a double support phase and a gait based on cycloidal time functions for motions of the pelvis and those of the oscillating foot. To assess the stability of the walking an index is applied, which is based on the notion of zero-moment point (ZMP) of the static foot at each step. Results of experimental tests show that the proposed gait enhances the stability of the robot during the walking.

show abstract

Section: Introductionmentioning

confidence: 99%