The Gait Planning Design for Biped Robot

In this paper, the problems of the gait planning for biped robot are explored. For gait planning, the parameters are established based on the postures of static walking and dynamic walking. According to the equilibrium state, every angles and positions of biped robot joint can be obtained by inverse kinematics. An embedded system is realized to validate the proposed gait planning algorithm. To reduce the angle error between the calculation and real result, high torque digital servo motor is used. The posture parameters are adjusted according to the different situations. The experimental results are demonstrated via the developed biped robot and it shows the feasibility and the effectiveness of the proposed algorithm.