Applying Modified ZMP Gait Planning on Biped Robot Walking

In this paper, A biped walking algorithm based on modified ZMP gait planning has been introduced. In conventional gait planning, some transient changes appear in the robot's coronal plane. One efficient method for this problem is adding a planning point in the ZMP gait. In addition, the sagittal and coronal movements are planned to move simultaneously. Human-moving postures is utilized to optimize the robot's gait. Besides, the quintic polynomial interpolation is applied in gait planning to eliminate the transient changes. Finally, the trajectories of the joint angles are obtained by the particle swarm optimization algorithm, which would be implemented on the biped robot. The test results show that the proposed modified gait planning can effectively improve the naturalness and stability of biped walking.