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    Please use this identifier to cite or link to this item: http://tkuir.lib.tku.edu.tw:8080/dspace/handle/987654321/80299

    Title: Design and Implementation of Omni-directional Walking System for Humanoid Robot
    Authors: Cheng, Chi-Tai;Wong, Ching-Chang;Hao-Che Chen;Yueh-Yang Hu;I-Hsiang Tseng;Li-Feng Chen
    Contributors: 淡江大學電機工程學系
    Keywords: Omni-directional Walking;Zero-motion point;humanoid robot
    Date: 2012
    Issue Date: 2013-01-21 16:29:14 (UTC+8)
    Publisher: Berlin, Heidelberg: Springer-Verlag Berlin Heidelberg
    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: 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
    DOI: 10.1007/978-3-642-32527-4_44
    Appears in Collections:[電機工程學系暨研究所] 專書之單篇

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