Instituto Tecnológico y de Estudios Superiores de MonterreyĪrea::INGENIERÍA Y TECNOLOGÍA::CIENCIAS TECNOLÓGICAS::TECNOLOGÍA DE LOS ORDENADORES::SIMULACIÓNĪutomated biped gait generetion for robot nao in webots simulator using a bio-inspired approach. Our solution is generated automatically and the best results for the frontal walk allow the robot to walk twice as fast as the Aldebaran's webots walk and four times faster than the default walk in Robotstadium. The CP G generates trajectories that are followed by the robot's actuators, and it is optimized by the use of GAs to find the best synchronization.
We suggest the use of Central Pattern Generators (CPGs) based on limit-cycle oscillators, together with Genetic Algorithms (GA). maintains Webots as its main product continuously since 1998. It has been designed for a professional use, and it is widely used in industry, education and research.
It provides a complete development environment to model, program and simulate robots. You can also download the latest version from the Community. Webots is an open source and multi-platform desktop application used to simulate robots.
Webots for nao install#
The walking gait is generated using Central Pattern Generators with limit-cycle oscillators. DOWNLOAD AND INSTALL WEBOTS FOR NAO Webots for NAO is provided on the CD that came with NAO. For lateral walk only four degrees of freedom are used. For faster results the number of degrees of freedom is kept low, only six are used for generating a frontal locomotion. Our method of solution does not requires the dynamic model of the robot, thus making this approach usable to other biped robots.
The motions learned include a frontal walk and lateral left and right movement. The robot generates motions to move in its environment. We provide a methodology for automated biped gait generation for a robot. The robot used for the experiments is robot Nao by Aldebaran Robotics and it is simulated in Webots mobile robot simulator. This thesis presents a solution to the biped locomotion problem.
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