Vol. 39, No. 1 (2016) (13)

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

Cite this paper
H. P. Huang, S. D. Xiao, Z. B. Li, “Walking Gait Planning for a Kind of Humanoid Robot”, Journal of Mechanical Engineering Research and Developments, vol. 39, no. 1, pp. 88-96, 2016.

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.

[1] Zhangtao. Robot Introduction. Beijing: China Machine Press, 2010.
[2] Xiao Nanfeng. Humanoid Robot. Beijing: Science Press, 2008.
[3] Yu Chaoyan. Research on gait planning of biped walking robot. Harbin Engineering University 2007.
[4] Wei Hangxin, Liu Mingzhi, Zhao Liqin. Simulation of running motion of humanoid robot. Journal of System Simulation, 2007, 19(2): 396-399.
[5] Ke Xianxin. Research on biped dynamic walking of humanoid robot. Shanghai: Shanghai University, 2005.
[6] Lyapunov A M. The general problem of the stability of motion. International Journal of Control. 1992, 55(3): 531-773.
[7] Li Q, Taksnishi A, Kato I. Learning control of compensation trunk motion for biped walking botor based on ZMP stability criterion //Proceedings of IEEE Int Conf on Robotics System, Yokohama, 1992:597-603.
[8] Seungsu Kim, ChangHwan Kim, Bumjae You, et a1. Stable Whole body Motion Generation for Humanoid Robots to Imitate Human Motions. The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems.2009: 2518-2524.
[9] LEE B J, Stonier D, XIM Y D, et a1. Modifiable Walking Pattern Generation Using Real-time ZMP Manipulation for Humanoid Robots.Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.2007: 4221-4226.