An Analytical Method for Real-Time Gait Planning for Humanoid Robots

  title={An Analytical Method for Real-Time Gait Planning for Humanoid Robots},
  author={Kensuke Harada and Shuuji Kajita and Kenji Kaneko and Hirohisa Hirukawa},
  journal={I. J. Humanoid Robotics},
This paper studies real-time gait planning for a humanoid robot. By simultaneously planning the trajectories of the COG (Center of Gravity) and the ZMP (Zero Moment Point), a fast and smooth change of gait can be realized. The change of gait is also realized by connecting the newly calculated trajectories to the current ones. While we propose two methods for connecting two trajectories, i.e. the real-time method and the quasi-real-time one, we show that a stable change of gait can be realized… CONTINUE READING
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