Gait planning for a biped robot using prediction feedback

The fast rhythm and real-time changed environment campaign like humanoid soccer robot, which requires players with rapid reaction and efficient executive abilities. In this paper we mainly proposed a method to develop a prediction feedback gait planning for a bipedal robot. A predictive control in the approach is based on the double linear inverted pendulum, and generating a motion trajectory of the robot's trunk in the premise of keeping dynamic balance. Apollo3D used this gait planning method, and have proved the feasibility and advantages of this method in RoboCup3D simulation game.