The path trajectory planning of swinging legs for humanoid robot

Abstract

In this paper, the walking gait of the biped robot is studied. An optimized method for the trajectory of the swinging legs based on Bezier curve is proposed. First, the impact of the trajectory of the swinging legs on the stability of the biped robot is analyzed. The Bezier based curve is then used for trajectory planning of the end-leg. Through the Newton tangent method, the interpolation points of the swinging leg with uniform movement can be solved with the aid of the Bezier curve. So the biped robot can maintain the uniform motion and reduce the impact of inertial force during the process from acceleration to deceleration. Further, the biped robot can move in fast speed to avoid falling and improve the walking stability. Experiments are performed in Matlab simulation and Alpha Ebot. The desired trajectory of each joint of the biped robot is planned and applied to the real robot platform to verify the effectiveness of the optimized gait planning method.