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MPC based Biped Walking Generation using Automatic Foot Placements


Arjun Bharadwaj, A. Rezaeizadeh

Semester Thesis, FS12 (10207)

Robots produced by the NAO are being used worldwide for Robo Soccer. The RoboCup team at ETH Zurich promotes research in robotics and Artificial Intelligence. The aim of the project is to develop a walking algorithm which can make the NAO robots walk faster than what they currently do with the inbuilt algorithm in the robots and which are robust to disturbances these two being the main criteria which decide the winner of the match. We investigate two predictive schemes one which has a predefined foot placement trajectory, based on Zero Moment Point and one with automatic foot placements.


Type of Publication:

(13)Semester/Bachelor Thesis

R. Nguyen

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% Autogenerated BibTeX entry
@PhdThesis { BhaRez:2012:IFA_4206
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