Optimal Gait Generation of an 8-DOF Biped Robot on Deformable Terrain using Floating-base Dynamics

摘要

This paper presents the optimal gait generation of an 8 Degrees of Freedom (DOF) biped robot on deformable terrain. The deformation of the terrain causes the foot and terrain contact point to move during gait, and hence we have used the floating base representation for the dynamics formulation.