Novel Gait Pattern Planning Method for Increasing Flexibility of Biped Robot

摘要

The increase of flexibility of biped robot brings larger application range.Aiming at this problem,a real time planning method is presented.This method generates footstep according to the latest command.Trajectories of Center of Gravity(CoG) and Zero Moment Point(ZMP) are simultaneously planned in real time based on the analytical solution of dynamic equation.This method also solves ZMP fluctuation problem by using a discretization method.The robot is able to change to arbitrary footstep by only one step.We conducted experiments on a real robot named Nao and obtained the expected results.