Title: A method of designing swinging-leg walking trajectory for biped robot on plat ground

Authors: Yingli Shu; Quande Yuan; Jian Zhang; Huazhong Li; Yuzhen Pi; Wen-de Ke

Addresses: School of Electrical Engineering and Information Technology, Changchun Institute of Technology, Changchun, 130012, China ' School of Computer Technology and Engineering, Changchun Institute of Technology, Changchun, 130012, China ' Department of Oil Saving Engineering, Yantai Longyuan Power Technology Co., Ltd., Yantai, 264000, China ' Sino-German School, Shenzhen Institute of Information Technology, Shenzhen, 518172, China ' School of Electrical Engineering and Information Technology, Changchun Institute of Technology, Changchun, 130012, China ' Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen, 518055, China

Abstract: The periodic walking of biped robot involves the alternate movement of supporting leg and swinging leg. In order to quickly plan the gait, it is necessary to select the key posture of biped walking on the premise of maintaining the stability of the robot. Based on the known information, the spline curve is designed and solved to construct the ankle trajectory of the swinging leg of the robot. Simulation results showed the feasibility of the method.

Keywords: biped robot; trajectory; walking; ZMP; zero moment point.

DOI: 10.1504/IJCSM.2023.130425

International Journal of Computing Science and Mathematics, 2023 Vol.17 No.1, pp.28 - 38

Received: 22 Feb 2021
Accepted: 09 Jul 2021
Published online: 20 Apr 2023 *