Walking Pattern and Compensatory Body Motion of Biped Humanoid Robot

This paper presents a walking pattern generation method for biped walking. There are three walking phases such as a double support, a swing and a contact phase. In the swing phase, a leg motion pattern is produced by using a six order polynomial, while a leg motion pattern is generated by using a quintic polynomial in the contact and double support phase. When a biped humanoid robot dynamically walks on the ground, moments are produced by the motion of the lower-limbs. So, a moment compensation method is also discussed in this paper. Based on the motion of the lower-limbs and ZMP (Zero Moment Point), the motion of the trunk and the waist is calculated to cancel the moments. Through simulation, the effectiveness of the moment compensation methods is verified