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A planning method for humanoid walking is proposed in this paper. In this method, IPM (inverted pendulum model) is used as a dynamic model for humanoid robots. Whereby ZMP (zero moment point) constraints of the robot are analyzed in the IPM motion, and the COG (center of gravity) motion of IPM is to approximate the COG motion of robots. The kinematic model of the robot for walking planning is based on a typical model with 12 DOFs (degree of freedom) of legs. After the robot COG motion and two legs motion are generated, and 3D kinematic constraints are satisfied, the angles of every DOFs are obtained. These angular trajectories are used to control the real robots. Simulation experiments are conducted to verify the effectiveness of our proposed walking planning method.