Design and Implementation of Stable Gait for Bipedal Robot

Abstract

This paper presents an optimized method of gait planning for a small biped humanoid robot which developed independently. The method is based on the research of the gait generation patterns for biped robot and analyses the gait generation method which based on three dimensional linear inverted pendulum and the relationship between the COG height, initial velocity, step length and the walk cycle. We carry on the design of bipedal robot gait and realize the stable walking of robot. The simulation and experimental results have confirmed the feasibility of this method.