Quintic polynomial trajectory of biped robot for human-like walking

摘要

This paper proposes a separate quintic polynomial trajectory for each sub phase of gait cycle to achieve smooth human-like walking. A biped robot with active hip, knee and ankle joints is considered here for human legs like appearance and walking performance. Trajectory planning is done on the basis of experimental flexion angle, velocity and acceleration data of three joint movements i.e. hip, knee and ankle in sagittal plane. The results are compared with cubic spline trajectory and other results available for gait generation. The result shows that the proposed trajectory can be used for walking of biped robot just like human walking.