Skip to main content
SpringerLink
Log in

The Research on the Method of Gait Planning for Biped Robot

  • Conference paper
  • First Online:
Book cover Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10462))

Included in the following conference series:

Abstract

Because of its great flexibility and high environmental adaptability, biped robot has been widely applied in many kinds of fields, including scientific exploration, daily service and so on. Biped robot, which has great potential both in social and economic aspects, is a cutting-edge research area in the field of robot study. In this manuscript, a humanoid gait planning method of biped robot based on the hip height and attitude compensation is proposed. Firstly, the sagittal and lateral kinematics models of the robot are established. The poses at critical moments in the process of walking of the robot are analyzed. At the same time, a complete gait planning is accomplished by using the cubic spline interpolation method, and the smooth trajectory obtained of each joint of the robot verifies the feasibility of the proposed method. Finally, the walking experiment is carried out to further verify the feasibility of the planning method.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

References

  1. Xiaolu, Y., Li, Y., Juntong, C.: Design of ATmega88 and delphi-based biped walking robots (in Chinese). Microcomput. Appl. 23, 38–40+43 (2014). doi:10.3969/j.issn.1674-7720.2014.23.023

  2. Bo, Z., Zhijiang, D., Lining, S., Wei, D.: Research on gait planning of biped walking robot (in Chinese). Mach. Electron. 04, 52–55 (2008). doi:10.3969/j.issn.1001-2257.2008.04.017

    Google Scholar 

  3. Lina, Z.: Design and Study of the Gait Planning and Stability Control of Biped Walking Robot on Focus (in Chinese). Harbin Engineering University, Harbin (2008)

    Google Scholar 

  4. Xiaoguang, Z.: Research on Biped Robot Gait and Path Planning (in Chinese). North China Electric Power University, Beijing (2012)

    Google Scholar 

  5. Duyong, C., Nanfeng, X.: Research on humanoid robot two-step gait planning algorithm (in Chinese). Comput. Eng. Des. 09, 1985–1988 (2010)

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Beijing University of Aeronautics and Astronautics, Beijing, 100191, People’s Republic of China

    Pan Li & Kaichao Li

  2. Farragut High School, Koxville, TN, 37934, USA

    Yifan Wei

Authors
  1. Pan Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Kaichao Li
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Yifan Wei
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Kaichao Li .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Li, P., Li, K., Wei, Y. (2017). The Research on the Method of Gait Planning for Biped Robot. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10462. Springer, Cham. https://doi.org/10.1007/978-3-319-65289-4_4

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-65289-4_4

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65288-7

  • Online ISBN: 978-3-319-65289-4

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation