Abstract
Competing at the RoboCup 2000 Sony legged robot league, the UNSW team won both the challenge competition and all their soccer matches, emerging the outright winners for this league against eleven other international teams. The main advantage that the UNSW team had was speed. A major contributor to the speed was a novel omnidirectional locomotion method developed for the quadruped Sony ERS-110 robot used in the competition. It is believed to be the fastest walk style known for this type of robot. In this paper we describe the parameterised omnidirectional walk in detail. The walk also made a positive contribution to other robot tasks such as ball tracking and localisation while playing soccer. The authors believe that this omnidirectional locomotion could be applied more generally in other legged robots. © 2002 Springer-Verlag Berlin Heidelberg.
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CITATION STYLE
Hengst, B., Ibbotson, D., Pham, S. B., & Sammut, C. (2002). Omnidirectional locomotion for quadruped robots. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 2377 LNAI, pp. 368–373). Springer Verlag. https://doi.org/10.1007/3-540-45603-1_45
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