Walking Gait Planning for a Kind of Humanoid Robot
H. P. Huang, S. D. Xiao, Z. B. Li
Electromechanical and Control Department, Mechanical Engineering College, Southwest Jiaotong University, Chengdu, Sichuan, 610031, P. R. China
ABSTRACT: Gait planning is one of the important and difficult problems in the research of humanoid robot. In order develop a good walking gait planning solution for a kind of humanoid robot whose prototype has been design by us, an off-line gait planning method is proposed in this paper. First, the robot is simplified as an inverted pendulum model. Then we use this inverted pendulum model to do forward and lateral movement gait planning. Motion function of each joint angle has been determined. Finally, we use ZMP stability criterion to evaluate the gait planning solution. Evaluation results verifies that the gait planning method of humanoid robot proposed in this paper is reasonable and feasible, and it can ensure the steady walking of the humanoid robot.
Keywords : Humanoid robot; Gait planning; Inverted pendulum; Zero Movement Point.
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