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    Please use this identifier to cite or link to this item: https://tkuir.lib.tku.edu.tw/dspace/handle/987654321/79544

    Title: Design and implementation of omni-directional walking system for humanoid robot
    Authors: Cheng, Chi-tai;Wang, Ching-chang;Chen, Hao-che;Hu, Yueh-yang;Tseng, I-hsiang
    Contributors: 淡江大學電機工程學系
    Keywords: Omni-directional Walking;Zero-motion point;humanoid robot;Autonomous robots
    Date: 2012-08-20
    Issue Date: 2012-12-10 21:30:05 (UTC+8)
    Abstract: An omni-direction walking system for humanoid robot is presented in this paper. This method combines a mark time motion and a walking trajectory planning system. Three sub-motions, including leg shifting, leg lifting and leg opening, with same frequency are proposed to accomplish the mark time motion. The proposed omni-directional walking system is established to make robot walk fast in the soccer field.
    Relation: Conference Towards Autonomous Robotic Systems TAROS 2012: Advances in Autonomous Robotics, p.428-429
    DOI: 10.1007/978-3-642-32527-4_44
    Appears in Collections:[Graduate Institute & Department of Electrical Engineering] Proceeding

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