This paper describes the new walk algorithm implemented on the NAO robot. NAO is a small fully actuated biped robot provided by the French company Aldebaran Robotics. Since the beginning of the company in July 2005, a major goal has been the development of robust walk for the robot. After 5 years of mecatronic design and improvements in robustness of the robot (7 prototypes) and multiple prototypes of humanoid dynamic walk algorithm, an omni-directional walk robust against small obstacles is now available for all the NAO units (more than 700) in the world.
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Gouaillier et al. (2010) studied this question.
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