Foot trajectory planning of bipedal walking robot based on a uniform acceleration method

Abstract

This paper proposes a uniform acceleration method to plan the trajectory of the biped robot walking process. This method decreases the peak acceleration of the foot during the walking process of the robot, optimizes the hip joint torque, and reduces the risk of motor overrun at the hip joint. Meanwhile, the Center of Mass (CoM) and foot trajectory formulas are derived in this paper, and the effectiveness and feasibility of this method are also verified by simulation experiment.