Omnidirectional motion control for the humanoid soccer robot

Zhechao Gao, Jia Wu, Hongwu Chen, Bowen Pan, Hao Zheng, Dingwen Liang, Xiaoming Liu

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionpeer-review

1 Citation (Scopus)


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.
Original languageEnglish
Title of host publicationComputational Intelligence and Intelligent Systems
Subtitle of host publication4th International Symposium, ISICA 2009, Proceedings
EditorsZhihua Cai, Zhenhua Li, Zhuo Kang, Yong Liu
Place of PublicationBerlin
PublisherSpringer, Springer Nature
Number of pages8
ISBN (Electronic)9783642049620
ISBN (Print)9783642049613
Publication statusPublished - 2009
Externally publishedYes
Event4th International Symposium on Intelligence Computation and Applications (ISICA 2009) - Huangshi, China
Duration: 23 Oct 200925 Oct 2009

Publication series

NameCommunications in Computer and Information Science
ISSN (Electronic)1865-0929


Conference4th International Symposium on Intelligence Computation and Applications (ISICA 2009)


  • RoboCup 3D
  • humanoid robot
  • motion control
  • simulation


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