Gait trajectory generation for a five link bipedal robot based on a reduced dynamical model

摘要

In this paper, a simple trajectory generation method for biped walking isproposed. The dynamic model of the five link bipedal robot is first reducedusing several biologically inspired assumptions. A sinusoidal curve is thenimposed to the ankle of the swing leg's trajectory. The reduced model isfinally obtained and solved: it is an homogeneous second order differentialequations with constant coefficients. The algebraic solution obtained ensures astable rhythmic gait for the bipedal robot. It's continuous in the defined timeinterval, easy to implement when the boundary conditions are well defined.