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.
Advances in autonomous robotics : joint proceedings of the 13th Annual TAROS Conference and the 15th Annual FIRA RoboWorld Congress, pp.428-429 Lecture Notes in Computer Science 7429