Minimum Jerk-Based Control for a Three Dimensional Bipedal Robot

In this paper, an optimized gait pattern generation is produced for a three dimensional bipedal robot using a Minimum Jerk criterion in the single support phase. Three approaches are introduced and compared in this framework. The Minimum Jerk based control approaches are the point-to-point, the Via-point and the shape function trajectory. Simulation results show that the point-to-point Minimum Jerk-based control cannot be satisfactory since the supposed swinging leg of the bipedal robot doesn't lift off the ground. However, a bipedal stable human-like movement is guaranteed using both last approaches.