An approach to generation of smooth walking pattern for biped robot

摘要

Biped robots and other legged robots have better adaptation to environments in human living-spaces than wheel type and crawler type mobile robots. Such an adaptivity to various environments, including rough ground, highly depends on control capacity. Till now, there have been much investigations on control the practical controllers for biped robots. According the environmental information, a walking parameter which is parameterized by walking speed, walking length, and so on becomes more important in order to prevent falling down. This paper proposes a method to generate walking pattern for biped robot considering walking parameters under the various environment. This method brings two trajectories, center of gravity (COG) trajectory and tip trajectory of swing leg. COG trajectory is determined based on walking stability. On the other hand, tip trajectory of swing leg which is made from 5th-order spline function is determined based on environmental information. Spline function has continuous to the second differentiation. By taking boundary conditions into consideration, continuity of adjacent trajectory is assured. The effectiveness of proposed method is shown in simulation apply for biped robot.