Abstract
This paper describes a motion system for a quadruped robot that performs smooth transitions over requested body trajectories. It extends the generality of path based approaches by introducing geometric primitives that guarantee smoothness while decreasing (and in some cases entirely removing) constraints on when and what types of parameter transitions can be made. The overall motion system for the autonomous Sony legged robot that served as our test-bed is also described. This motion system served as a component in our entry in the RoboCup-2000 world robotic soccer championship, in which we placed third, losing only a single game.
This research was sponsored by Grants Nos. DABT63-99-1-0013, F30602-98-2-0135 and F30602-97-2-0250. The information in this publication does not necessarily reflect the position of the funding agencies and no official endorsement should be inferred.
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© 2002 Springer-Verlag Berlin Heidelberg
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Bruce, J., Lenser, S., Veloso, M. (2002). Fast Parametric Transitions for Smooth Quadrupedal Motion. In: Birk, A., Coradeschi, S., Tadokoro, S. (eds) RoboCup 2001: Robot Soccer World Cup V. RoboCup 2001. Lecture Notes in Computer Science(), vol 2377. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45603-1_33
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DOI: https://doi.org/10.1007/3-540-45603-1_33
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