A new method of desired gait synthesis in biped robot

The paper presents a new method for generating the desired gaits in biped robot based on the reactive force between the feet and ground. The relation between the reactive force and joint motion is derived using the D'Almbert principle. In view of stale walking, the zero moment point (ZMP) stability criterion must be included in the desired gait generation. The proposed method utilizes aforesaid relation and stability principle to generate the desired joint trajectories. Meanwhile, desired motion trajectories and desired ZMP trajectories are also considered. The desired trajectory of the ZMP is determined by a fuzzy logic based on the human locomotion. The proposed method can reduce the motion range of the trunk, and can be applied to both the single foot supporting phase and double feet supporting phase by changing the restraining condition to the swinging leg.