Method for generating a walking pattern in a humanoid robot

The present invention relates to a gait generation method of a humanoid robot, particularly to generate the walking pattern of the humanoid robot how to walk in any of a variety of walking direction and the walking range. Gait generating method of a humanoid robot according to an embodiment of the present invention, comprising the steps determining the ZMP position that will later walking according to the direction of movement of the humanoid robot, using a cycle step module the walking pattern generated according to the ZMP position information a second step of obtaining a first condition for, the method comprising: generating a walking pattern of the ZMP and COM for the initial step, depending on the initial value obtained from the initial state of the first condition and the humanoid robot by using the transient step the module, a top step module used in 2 it includes generating the walking pattern of the ZMP and COM for the last step with the steps of generating a walking pattern of the ZMP and COM for the top step in accordance with the ZMP position information, the transient step module. Humanoid, walking robot, walking modules, zero moment point, the total center of mass, inverted pendulum model