Biped robots research is mainly concentrated on the control system development and doing simulation, cubic spline interpolation method is widely applied to pre-gait planning work. This paper analyzed the robots' walking process and calculated the joint trajectory curves of a walk cycle by using spline interpolation and the quintic polynomial fitting means, verifies that the result obtained by quintic polynomial algorithm tends to be more ideal, it is conducive to maintain walking stability and find the optimal joint angles. The paper provides a theoretical basis for optimizing robot's trajectory planning.
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