Research and Design of the Biped robot Gait parameters

A simple and intuitive scheme about online locomotion pattern generation of dynamic walking for biped robot is presented to solve the complex joint trajectory design. A modeling which based on Cartesian Coordinate system and generalized coordinates was proposed. The gait planning of the biped robot was studied by using the method of 3rd order spline interpolation algorithm. The hip and impatient joint trajectory of the robot was emulated using Matlab. The result shows that the algorithm can make a continuously smooth moving trajectory of position and velocity, resulting in the moving trajectory of manipulation continuously smooth, which satisfies the industrial robot need.