This thesis starts with the hardware framework of humanoid soccer robots, and clarifies the design and implementation of the communication system, the implementation of the omnidirectional walking gait, and the design and implementation of the control method of gait optimization. Finally, the control method based on the center of robot's mass and the true position of the swinging foot has achieved satisfying results on the physical robot SEU-UniRobot, the balance of gait is improved, the real position of the swinging foot is compensated to the vicinity of the target position, and gait performance is significantly improved.
Gait control and optimization of humanoid soccer robot
2019-06-01
468251 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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