Biologically inspired approaches to robotics: what can we learn from insects?
Communications of the ACM
The UNSW RoboCup 2000 Sony Legged League Team
RoboCup 2000: Robot Soccer World Cup IV
Generating embedded software from hierarchical hybrid models
Proceedings of the 2003 ACM SIGPLAN conference on Language, compiler, and tool for embedded systems
Learning in a High Dimensional Space: Fast Omnidirectional Quadrupedal Locomotion
RoboCup 2006: Robot Soccer World Cup X
A Model-Based Approach to Calculating and Calibrating the Odometry for Quadruped Robots
RoboCup 2007: Robot Soccer World Cup XI
Machine learning for fast quadrupedal locomotion
AAAI'04 Proceedings of the 19th national conference on Artifical intelligence
Stereo vision and terrain modeling for quadruped robots
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
The Stanford LittleDog: A learning and rapid replanning approach to quadruped locomotion
International Journal of Robotics Research
Portable autonomous walk calibration for 4-legged robots
Applied Intelligence
CPG modulation for navigation and omnidirectional quadruped locomotion
Robotics and Autonomous Systems
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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.