Gait Design of a Bipedal Walking Robot Based on the Center of Gravity

This study aims to design the gait of a bipedal walking robot based on the center of gravity to achieve stable walking ability. By analyzing the human walking principle and robot structural parameters, the center of gravity model was established and simulated using MATLAB. In terms of gait planning, according to the actual structure of the robot and the characteristics of human walking, the walking attitude and center of gravity trajectory of the robot are planned, and the gait parameters are set. Particular attention was paid to the design of the robot's gait when ascending stairs, considering geometric constraints and joint steering. Through MATLAB simulation, the trajectory of the center of gravity in the process of ascending the stairs is analyzed, and the rationality and feasibility of the gait design are verified. Finally, by solving the kinematic equation and simulating, the effect and reliability of gait design are further verified. The results of this study are expected to improve the mobility and adaptability of bipedal walking robots in complex environments and provide a useful reference for future robot design and control.