A new method of desired gait synthesis in biped robot

The focus of this paper is the problem of a new method of desired gait generates in biped robot based on the reactive force between the feet and ground. The relation between the reactive force and joint motion is derived using the D'Almbert principle. In view of stale walking, the ZMP(Zero Moment Point) stability criterion must be include in the desired gait generation. The proposed method utilizes aforesaid relation and stability principle to generate the desired joint trajectories. Meanwhile, desired motion trajectories and desired ZMP trajectories are also considered. The desired trajectory of the ZMP is determined by a fuzzy logic based on the human locomotion. The proposed method can reduce the motion range of the trunk, and can be applied to the single foot supporting phase and double feet supporting phase by changing the restraining condition to the swing leg.