A closed-loop gait for humanoid robots combining LIPM with parameter optimization

Andreas Seekircher, Ubbo Visser

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Even with the recent advances in the area of dynamic walking on humanoid robots there is still a significant amount of manual calibration required in practice due to the variances in the hardware. That is in order to achieve the performance needed in environments such as RoboCup. We present a LIPM-based closed-loop walk, that adapts to differences in the physical behavior of the robot by optimizing parameters of the model directly on the NAO while walking and executing other tasks. A significant amount of errors in the model predictions can be reduced without using a more complex model simply by adjusting the LIPM to fit the observed behavior. Our experiments show that the optimized model yields a more controlled, faster and even more energy-efficient walk on different NAO robots and on various surfaces without additional manual parameter tuning.

Original languageEnglish (US)
Title of host publicationRoboCup 2016
Subtitle of host publicationRobot World Cup XX
EditorsRaymond Sheh, Daniel D. Lee, Sven Behnke, Sanem Sariel
PublisherSpringer Verlag
Number of pages13
ISBN (Print)9783319687919
StatePublished - 2017
Event20th Annual RoboCup International Symposium, 2016 - Leipzig, Germany
Duration: Jun 30 2016Jul 4 2016

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9776 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other20th Annual RoboCup International Symposium, 2016

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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