Gait planning and control for biped robots based on modifiable key gait parameters from human motion analysis

摘要

In this paper, effective gait planning and control is established for biped robots. First, an experiment of human locomotion is carried out using a motion capture system for analysis of human gait features. We found modifiable key gait parameters affecting the dominant performance of biped robots walking from extracted features. Then, we proposed an effective bio-inspired gait planning (BGP) algorithm using modifiable key gait parameters. In final, the proposed method has been verified through simulations and experiment in a real biped robot DRC-XT.