The Research on the Method of Gait Planning for Biped Robot

Because of its great flexibility and high environmental adaptability, biped robot has been widely applied in many kinds of fields, including scientific exploration, daily service and so on. Biped robot, which has great potential both in social and economic aspects, is a cutting-edge research area in the field of robot study. In this manuscript, a humanoid gait planning method of biped robot based on the hip height and attitude compensation is proposed. Firstly, the sagittal and lateral kinematics models of the robot are established. The poses at critical moments in the process of walking of the robot are analyzed. At the same time, a complete gait planning is accomplished by using the cubic spline interpolation method, and the smooth trajectory obtained of each joint of the robot verifies the feasibility of the proposed method. Finally, the walking experiment is carried out to further verify the feasibility of the planning method.