Walking Pattern Generation of an Unrooted Redundant Robot

In the paper, the motion planning of an unrooted redundant robot was studied when it was walking on the ground. Adopting the extended task space method, the end-hands tasks and the appendage tasks were stipulated to solve nonlinear equations and got the walking sample. Planning the end-hands trajectory by taking use of 2-3-2 piecewise polynomial interpolation, and planning the COM(Center Of Mass) trajectory by taking use of preview control. By simulating the unrooted redundant robot's walking on the ground in the virtual environment, the accuracy of trajectory planning method and the walking ability of unrooted redundant robot were verified.