| The design of a real time and dynamic balanced biped walking
gait pattern generator is not trivial due to high control space and
inherently unstable motion. Moreover, in the Robocup domain, robots
that are able to achieve the goal footstep in a short duration have a
great advantage when playing soccer. In this paper, we present a new
technique to realize a real time biped walking gait pattern generator on
a real robot named Nao. A Zero Moment Point (ZMP) trajectory represented
by a cubic polynomial is introduced to connect the goal state
(the position and the velocity of the CoG) to the previous one in only
one step. To apply the generator on the real robot Nao, we calculate the
compensation for two HipRoll joints in a theoretical way by modeling
them as elastic joints. The nao of version 3.3 is used in the experiments.
The walk is intrinsically omnidirectional. When walking with step duration
180ms, the robot can respond to the high level command in 180ms.
The maximum forward speed is around 0.33m/s. The maximum backward
speed is around 0.2m/s. The maximum sideways speed is around
0.11m/s. The maximum rotational speed is around 90 degree/s.
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