Home -> Research -> Locomotion

Legged robots have the ability of walking on uneven terrain and the adaptability to complex environment, which promise a wide application prospect in home service, education, planetary exploration, etc. Locomotion is one of the key issues of legged robots.     Our real robot experiments are conducted with Aibo robots and Nao robots. We published more than ten papers and won the second place of SPL league of RoboCup.

Recent Projects

Gait Pattern Generation

Gait pattern generation copes with the dynamics of the robot and generates feasible gaits trajectories which lead to dynamically stable biped motion. [more...]

Footstep Revision

In most cases, we fail to generate the ZMP sample sets because the kinematic range is too narrow or we cannot find samples that satisfy search constraints. This usually means that the next step is too distant from the current step or has too much direction changes compared with the current step. [more...]

Demonstration

Integrated Balance Control on Uneven Terrain(Sep 20, 2011).

Real Time Biped Walking Gait Pattern Generator for a Real Robot(May 9, 2011).

Integrated Balance Control on Uneven Terrains Based on Inertial Sensors(Mar 8, 2011).

Punt Kicks, July 10, 2010.

Serve Drinks, June 16, 2010

RoboCup Year Rank Place 2009 Top 8(Nao) Graz, Austria 2008 2nd place Suzhou, China 2007 4th place Atlanta, USA 2006 Top 8 Bremen, Germany 2005 Top 8 Osaka, Japan

Publication

Jinsu Liu, Feng Xue, Xiaoping Chen, A UNIVERSAL BIPED WALKING GENERATOR FOR COMPLEX ENVIRONMENTS WITH PATTERN FEASIBILITY CHECKING, International Journal of Humanoid Robotics. Vol. 8, No. 2 (2011) 323-357.     Feng Xue, Xiaoping Chen, Jinsu Liu, and Daniele Nardi, Real Time Biped Walking Gait Pattern Generator for a Real Robot, In: Proceedings of RoboCup 2011 Symposium, Istanbul, Turkey,. June 5-11, 2011 (Also to be appeared in: RoboCup 2012: Robot Soccer World Cup XV, ser. Lecture Notes in Computer Science, 2012)..     Jinsu Liu, XiaoPing Chen, and Manuela Veloso. Simplified Walking: A New Way to Generate Flexible Biped Patterns. Proceedings of the 12th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR). Istanbul, Turkey, September 2009..     Jinsu Liu and Manuela Veloso. Online ZMP Sampling Search for Biped Walking Planning. International Conference on Intelligent Robots and Systems.. 2008, 185 - 190.     LIU Fei and CHEN Xiao-Ping. Balance Recovery Method of Walking Robot Based on Orbital Energy Model. ROBOT,. Vol. 33(1) 2011 (Chinese).     LIU Fei and CHEN Xiao-Ping. Gait Evolving Method of Quadruped Robot Using Zero-Moment Point Trajectory Planning. ROBOT,. Vol. 32(3) 2010 (Chinese).     XU Kai and CHEN Xiao-Ping. Walking State Analysis Model for Legged Robots. Journal of Software,. Vol. 20(8):2170-2180, 2009 (Chinese).     XU Kai and CHEN Xiao-Ping. A Gait Generation Algorithm for Legged Robots. Journal of Chinese Computer Systems,. Vol. 29(5),2008 (Chinese).     Haitao He and Xiaoping Chen. A Model-Based Approach to Calculating and Calibrating the Odometry for Quadruped Robots. Proceedings of RoboCup Symposium 2007.. Atlanta, America, July 2007..     Kai Xu, Xiaoping Chen, Wei Liu, and Mary-Anne Williams. Legged robot gait locus generation based on GA. In: Xiaoping Chen, Wei Liu, and Mary-Anne Williams (Eds.) The Proceedings of International Symposium on Practical Cognitive Agents and Robots.. The University of Western Australia Press..     X H Zhang, X P Chen, J L Li, and X Li. Vision-based Monte Carlo - Kalman Localization in a Known Dynamic Environment. In: The proceedings of the Ninth International Conference on Control, Automation, Robotics and Vision. (ICARCV 2006)..     Zefeng Zhang and Xiaoping Chen. An efficient robot vision system. Computer Engineering,. Vol.30, No.10, Oct, 2004..     Dongheng Li, Zefeng Zhang, Xiaoping Chen and Zhenquan Zhuang. Desing and Implementation of a robot vision system. MINI-MICRO SYSTEMS,. Vol.24, No.12Dec, 2003..     X. Li, Z. Zhang L. Jiang and X. Chen, WrightEagle 2001-Sony Legged Robot Team. In: A. Birk, S. Coradeschi and S Tadokoro (Eds.), RoboCup-2001: Robot Soccer World Cup V, LNAI-2377, Springer,. 2002, 739-742.     Z. Feng and X. Chen. A real-time algorithm for robot vision and its applications. Proc. of National Conference on Intelligent Robots. Also in: Computer Science,. Vol. 29(S), 2002, 120-122.