Whole body motion pattern generation for biped humanoid robots

This paper describes a method of whole body motion pattern generation for biped humanoid robots. The walking pattern is generated on the basis of preview control and compensatory motion control. It enables the robot to walk with arm swings. According to the waist motion, hand motion, and foot motion, the angles of the whole body are calculated by inverse kinematics. In order to verify the effectiveness of the pattern generation method, the simulation of the whole body motion is conducted by using Adams and MATLAB/Simulink.