Generic Walking Trajectory Generation of Biped using Sinusoidal Function and Cubic Spline

摘要

A biped locomotion is an unstable behavior to perform because it is based on inverted pendulum model. Maintaining the balance and stability is a challenging task. Using numerical methods to solve the problem doesn't brings high level of stability in biped locomotion. Even when the stability is achieved, controlling the dynamic walking behavior becomes the challenging task. Here, we have proposed general walk trajectory generation of biped robot using sinusoidal and cubic spline function. Since our development is based on analytical approach, controlling and synthesizing the walking pattern is much more convenient. Through rigorous simulation studies we have shown that Sinusoidal model on captured data for hip joint could substantially stabilize walking behavior of humanoid robots. Further, at knee and ankle level our model is based on cubic spline shows stable synchronization between knee, ankle and hip joints. Once modeled correctly, we have synthesized a different pattern of walking such as brisk walk, walk with long step from the same generic model.