论文信息 - An experimental LTI model for open loop Nao navigation

An experimental LTI model for open loop Nao navigation

In this paper, we have derived a linear ARMAX model for Nao robot motion, developed by its own manufacturer Aldebaran robotics, called NaoQi walk engine. The model has been obtained assuming robot walking model acts in each direction independently. It has been verified that the whole system works well by the model obtained non-considering the interference between walking model in different directions.

Ahmad Fakharian | S. Sepehr Tabatabaei | Shima Parsianmehr

[1] Koen V. Hindriks,et al. An Approach to Navigation for the Humanoid Robot Nao in Domestic Environments , 2013, TAROS.

[2] Kazuhito Yokoi,et al. The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[3] Ehsan Hashemi,et al. Dynamic Modeling and Control Study of the NAO Biped Robot with Improved Trajectory Planning , 2012 .

[4] O. Nelles. Nonlinear System Identification , 2001 .

[5] Djitt Laowattana,et al. Neuro-Fuzzy Algorithm for a Biped Robotic System , 2008 .

[6] Manuela M. Veloso,et al. SSL-Vision: The Shared Vision System for the RoboCup Small Size League , 2009, RoboCup.