Generation of Walk Transient Trajectories for a Biped Robot

Abstract

We want to control an anthropomorphic biped robot to make it walk in its environment. For this purpose, we need complete walk trajectories. We start with cyclic trajectories obtained with motion capture on a human. The, we want to generate transient trajectories with a fast and on-line method, in order to complete cyclic trajectories provided by motion capture. We thus use a method based on cubic polynomials. We apply this method on a human walk trajectory, to compute start and stop transient trajectories for the robot.