Walking Gait Planning And Stability Control

Abstract

The stability control is important issue in humanoid robot walking. A balance controller consisting of an off-line walk pattern planner and a real-time modification was proposed. If we can solve this problem, the robot can walk smoothly and adapt to unknown environments, and many functions will become true. Inverted pendulum model, ZMP and FZMP conception are effective methods for walking gait planning and the stability control.