In RoboCup 2008 World Championship, the model of RoboCup 3D simulation has changed from Soccerbot to Nao. A series of parameters have been changed in a Nao model. This has greatly increased the complexity and difficulty of motion controller for Nao. Based on the analysis of Nao’s structure, our team G-Star has worked out the quantitative relation of joint angle in motion control and developed a toolkit to calculate the angle of joints accurately. In the experiment on RoboCup 3D server platform, our robots can stand up promptly and walk smoothly, which is fast enough to meet the real-time requirements. In this paper, we will give a detailed description of the architecture in basic motion using Nao model.
|Name||Communications in Computer and Information Science|
|Conference||4th International Symposium on Intelligence Computation and Applications (ISICA 2009)|
|Period||23/10/09 → 25/10/09|
- RoboCup 3D
- humanoid robot
- motion control