Quasi-static Walking for Biped Robots with a Sinusoidal Gait

The quasi-static gait is a common walking strategy for legged robots. It can make the legged robots adapt to many structured terrains. Many researchers focus on the quasi-static gait for Quadruped Robots which show great efficiency and simplicity. But when applied to biped robots, the stability analysis and the gait planning are still two challenging issues. This paper focuses on the quasi-static gait for biped walking. A novel gait with the sinusoidal movement of the center of gravity is proposed to achieve smooth and fast quasi-static walking. Based on the relationship of ZMP and COG, we proposed a stability criterion for quasi-static walking and a method that adjusts the parameters of the walking pattern to achieve fast walking. The proposed method is validated by simulation analysis in VREP software. The results show that biped robots can have well-performed on flat ground.