Research on Gait Planning of Biped Walking Robot

摘要

The gait planning with three-step method for HIT-ROBOCEAN is performed offline,which guarantees the robot's steady walking.Firstly,according to the actual structure of the robot body,the walking pose and gravity center of the robot are planned,based on the study of the humans' gait.And then the kinematics model is established.The kinematics equations in each discrete point are solved out via the walking pose and the programmed tracks,which constitute the motion joints' curves.Since the coupling of robot's forward and sideward motion,the motion curves are revised for steadier walking.Finally,the planning method is validated by the experiments.