Abstract:

Gait planning based on passive walking on even plane is presented for the four-link biped robot. The slope invariance control method is used to obtain the dynamics model of the robot in the horizontal plane. Then constant time scaling method is applied to scale the reference trajectory in the plane, so the walking gait whose stride length is constant and period is variable is got. Finally, numerical simulation is verified by Matlab, the results show that the method is feasible and effective.

Key words: biped robot, gait planning, slope invariance control, time scaling, variable-period