Robust Closed-Loop Gait for the Standard Platform League Humanoid

Colin Graf; Alexander Härtl; Thomas Röfer; Tim Laue

In: Changjiu Zhou; Enrico Pagello; Emanuele Menegatti; Sven Behnke; Thomas Röfer (Hrsg.). Proceedings of the Fourth Workshop on Humanoid Soccer Robots. Workshop on Humanoid Soccer Robots (Humanoids-2009), located at 2009 IEEE-RAS International Conference on Humanoid Robots, December 7, Paris, France, 978-88-95872-03-2, 2009.


In this paper, we present a robust closed-loop gait for the Nao, the humanoid robot used in the RoboCup Standard Platform League. The active balancing used in the approach is based on the pose of the torso of the robot, the estimation of which we also describe. In addition, we present an analytical solution to the inverse kinematics of the Nao, solving the problems introduced by the special hip joint of the Nao.

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Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence