Dynamic gait planning of robot NAO

摘要

According to the dynamic walking humanoid robot in the less realized prototype, the polynomial interpolation method is applied to the ankle joint trajectory planning. Combined with known hip motion trajectory, the geometric constraint method is used to get the knee motion trajectory. Whole gait cycle within the joint movement is got. The dynamics walking of the NAO robot is realized. Experimental results prove that the geometric constraint programming of polynomial interpolation method is feasible and effective.