Number：

02100009

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Name：

蔣祥第

Titles：

Associate professor

Author：

Chi-Sheng Tsai、Hsiang-Dih Chiang

Paper name：

Gait Planning of a Biped Robot

Name of activity：

Proceedings of 2011 International Conference on Service and Interactive Robots

Keywords：Biped robot,robot kinematics,walking planning,trajectory planning

Abstract：The purpose of this research is to investigate kinematics characteristics of a biped robot and program motion trajectory of each foot joints through discussion of various walking types and walking gait cycles. The static walking and dynamic walking types are thereafter compared and analyzed to program suitable walking gait cycle. Trajectory planning method is required to achieve smooth walking through a cycloid spline interpolation. Finally, the Bioloid biped robot is programmed to walk smoothly and generate each joint locomotion trajectory compared with cycloid spline and human walking.

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