Online walking pattern generation for biped walking

Abstract

This paper describes an online walking pattern generation method for biped humanoid robots which is based on a preview control method. Depending on the walking parameters, a 3-step pattern and reference ZMP are generated, and one step in the pattern is selected for walking. If another 3-step pattern is created, it will connect with the previous step using linear interpolation. This pattern generation method is able to deal with forward, sideward and forward-sideward mixed walking. In order to confirm the pattern generation method, various walking simulations are conducted using MATLAB/Simulink and ADAMS.