Gait Planning of Humanoid Robot Based on ZMP and Cubic Spline Interpolation

Xian Lun Wang; Ping Li; Fei Qi Yang

doi:10.4028/www.scientific.net/AMM.427-429.1394

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HomeApplied Mechanics and MaterialsApplied Mechanics and Materials Vols. 427-429Gait Planning of Humanoid Robot Based on ZMP and...

Gait Planning of Humanoid Robot Based on ZMP and Cubic Spline Interpolation

Abstract:

Teaching programming and manual programming are usually used to realize gait planning of humanoid robot. Many methods are lack of the adjustment of center of gravity and lead to the robot walking instability. The gait planning of humanoid robot is solved based on the Linear Inverted Pendulum Model and Zero Moment Point equation in this paper. Two feet trajectories are also planned to realize the smooth transition and overcome the impact during walking with the cubic spline interpolation method. The validation and feasibility of the method proposed in the paper are proved by the results of simulation and experiments.

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Periodical:

Applied Mechanics and Materials (Volumes 427-429)

Pages:

1394-1397

DOI:

https://doi.org/10.4028/www.scientific.net/AMM.427-429.1394

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Online since:

September 2013

Authors:

Xian Lun Wang*, Ping Li, Fei Qi Yang

Keywords:

Cubic Spline Interpolation, Dynamic Simulation, Humanoid Robot, ZMP

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* - Corresponding Author

References

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