A Robust Closed-Loop Gait for the Standard Platform League Humanoid
نویسندگان
چکیده
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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