JCC  Vol.2 No.11 , September 2014
A Humanoid Robot Gait Planning and Its Stability Validation
Abstract: Gait planning based on linear inverted pendulum (LIPM) on structured road surface can be quickly generated because of the simple model and definite physical meaning. However, over-simplifi- cation of the model and discontents of zero velocity and acceleration boundary conditions when robot starts and stops walking lead to obvious difference between the model and the real robot. In this paper, parameterized gait is planned and trajectories’ smoothness of each joint angle and centroid are ensured using the 3-D LIPM theory. Static walking method is used to satisfy zero velocity and acceleration boundary conditions. Besides, a multi-link model is built to validate the stability. Simulation experiments show that: despite of some deviation from the theoretical solution, the actual zero-moment point (ZMP) is still within the support polygon, and the robot walks steadily. In consequence, the rationality and validity of model simplification of LIPM is demonstrated.
Cite this paper: Zeng, J. , Chen, H. , Yin, Y. and Yin, Y. (2014) A Humanoid Robot Gait Planning and Its Stability Validation. Journal of Computer and Communications, 2, 68-74. doi: 10.4236/jcc.2014.211009.

[1]   Fu, C.L. and Chen, K. (2008) Gait Synthesis and Sensory Control of Stair Climbing for a Humanoid Robot. IEEE Transactions on Industrial Electronics, 55, 2111-2120.

[2]   Hirai, K., Hirose, M., Haikawa, Y. and Takenaka, T. (1998) The Development of Honda Humanoid Robot. Proceedings of the 1998 IEEE International Conference on Robotics and Automation, Leuven, 16-20 May 1998, 1321-1326.

[3]   Nguyen, T.P., Kim, D.W., Kim, H.K. and Kim, S.B. (2008) An Optimal Control Method for Biped Robot with Stable Walking Gait. Proceedings of the 2008 IEEE-RAS International Conference on Humanoid Robots, Korea, 1-3 December 2008, 211-218.

[4]   Katic, D. and Vukobratovic, M. (2003) Survey of Intelligence Control Techniques for Humanoid Robots. Journal of Intelligence and Robotic Systems, 37, 117-141.

[5]   Fu, G.P. and Yang, Y.M. (2011) Survey and Prospect on Walking Control Strategies for Humanoid Robot. Machine Tool & Hydraulics, 39, 154-158. (in Chinese)

[6]   Shuuji, K., Hirohisa, H., Kazuhito, Y. and Kensuke, H. (2005) Humanoid Robots. Ohmsha Ltd, Tokyo.

[7]   Chen, K. and Fu, C.L. (2010) Humanoid Robot Theory and Technology. Tsinghua University Ltd., Beijing. (in Chinese)