A novel fuzzy omni-directional gait planning algorithm for biped robot

Abstract

Aiming at the problems in gait planning of the biped robots, including the complex model, low stability, etc., a novel fuzzy omni-directional gait planning algorithm (FOGPA) is proposed. At first, this method puts forward a new separated omni-directional gait planning model, which combines the straight walking planning algorithm based on the improved Hermite interpolation and the rotation motion together. And then, a fuzzy gait parameter adjustment algorithm is put forward to control the gait parameters including the step size and rotation speed dynamically. At last, the fuzzy control results are used to get the gait data of robot real-timely. The experiment results show that the FOGPA improves the stability and robustness of gait in a certain degree and also improves the adaptability to the complex environment of the robot.