A heuristic gait template planning and dynamic motion control for biped robots

摘要

Biped robots with dynamic motion control have shown strong robustness in complex environments. However, manymotion planning methods rely on models, which have difficulty dynamically modifying the walking cycle, height,and other gait parameters to cope with environmental changes. In this study, a heuristic model-free gait templateplanning method with dynamic motion control is proposed. The gait trajectory can be generated by inputting thedesired speed, walking cycle, and support height without a model. Then, the stable walking of the biped robot can berealized by foothold adjustment and whole-body dynamics model control. The gait template can be changed in realtime to achieve gait flexibility of the biped robot. Finally, the effectiveness of the method is verified by simulationsand experiments of the biped robot BHR-B2. The research presented here helps improve the gait transition abilityof biped robots in dynamic locomotion.