@inproceedings{935e0f765c574f0c9537febf450f4bad,
title = "Humanoid robot's omnidirectional walking",
abstract = "The development of humanoid robots has great advantages[1] including economically efficient, appreciation-worthy, and etc. This paper proposes an omnidirectional gait generation mode based on linear centroid motion and the cubic spline interpolation. And then, based on the ZMP stability criterion, online feedback regulation is conducted on the robots' centroid according to the positional relationship of the centroid and ZMP. The result of the simulation verifies that the method can effectively implement a fast and stable omnidirectional walk for the humanoid robots.",
keywords = "Humanoid robots, Omnidirectional walk, System simulation, ZMP Criterion",
author = "Shixiong Wang and Mengkai Hu and Haobin Shi and Shuge Zhang and Xuesi Li and Wenyan Li",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics ; Conference date: 08-08-2015 Through 10-08-2015",
year = "2015",
month = sep,
day = "28",
doi = "10.1109/ICInfA.2015.7279317",
language = "英语",
series = "2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "381--385",
booktitle = "2015 IEEE International Conference on Information and Automation, ICIA 2015 - In conjunction with 2015 IEEE International Conference on Automation and Logistics",
}