Much progress on getting the Naos to walk has happened since our last post about getting the Nao to take his first steps. We are now able to walk in any direction, and even turn as well, all with one set of gait parameters.
Our top speed going straight ahead (measured with the simulator clock, and field lines) is about 13 cm/s. For comparison, the walk published from aldebaran is about 4.5 cm/s and the walk from the built-in urbi script is about 10 cm/s.
Although the walk is probably still a little too unstable to work on the real robot it will soon allow us to start writing behaviors and playing soccer in the simulator!
See the video of our walk here