A Stable Gait Planning Method of Biped Robot Based on Ankle motion Smooth Fitting

In ankle joint trajectory planning of biped robots, the spline interpolation generally leads to acceleration mutations on the key points, which weakens the stability of the biped robot. To solve this problem, a smooth function fitting method on ankle joint trajectory planning is proposed in this paper. In this method, the higher order derivatives of the ankle joint trajectory is smooth, and the acceleration mutation can be avoided. The biped robot gait planning of a whole cycle is accomplished by calculating the joint angle sequences of hip, knee and ankle. The effectiveness of the proposed method is demonstrated by numerical simulations on NAO robot gait planning. Experimental results show that the proposed method can improve the stability of the zero moment point (ZMP) margin effectively when it is applied to the bipedal robot gait planning on the non-horizontal ground.

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