Title: A method of walking trajectory for biped robot based on Newton interpolation

Authors: Yingli Shu; Quande Yuan; Huazhong Li; Wende Ke

Addresses: School of Electrical Engineering and Information Technology, Changchun Institute of Technology, Changchun, Jilin, China ' School of Computer Technology and Engineering, Changchun Institute of Technology, Changchun, Jilin, China ' Sino-German School, Shenzhen Institute of Information Technology, Shenzhen, Guangdong, China ' Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, Guangdong, China

Abstract: Trajectory design of biped robot is the premise of effective walking. By analysing the kinematics characteristics of biped robot, Newton's interpolation is used to design the trajectory of insertion point when planning periodic motion and realising Zero Moment Point (ZMP) constraint. With the increase of interpolation points, the curve fitting effect is improved and it will not lead to more expensive calculation cost, which can effectively meet the real-time requirements. Simulation results show the effectiveness of the method.

Keywords: biped robot; interpolation; trajectory; walking.

DOI: 10.1504/IJWMC.2022.126355

International Journal of Wireless and Mobile Computing, 2022 Vol.23 No.2, pp.108 - 113

Received: 04 Mar 2021
Accepted: 20 Dec 2021
Published online: 24 Oct 2022 *

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