The research of biped robot gait generator based on decoupling synthesis and ZMP algorithm

The paper proposed a biped walking robot gait generation method which based on the first decoupling calculation and then synthesis planning. Through ZMP equation, the geometric constraint algorithm and biped robot walking model, I discussed the smoothness and stability of the walking course, and analysis its performance combined with actual system, Verify the effectiveness of planning, To provide the necessary information for future development of biped robot.