Berlin, Heidelberg: Springer-Verlag Berlin Heidelberg
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, Bristol, UK, August 20-23, 2012, pp. 428-429