A Universal 3D Gait Planning Based on Comprehensive Motion Constraints

摘要

To realize stable walking and complex motion in the 3D unstructured environment, a parametric universal gait planning is proposed with the consideration of boundary constraints, physical constraints and ZMP stability constraints of locomotion. This approach adopts a spline-based parametric method to simplify the complicated joint trajectory planning problem, and converts it to a constrained optimization problem of the parametric vector. With different gait parameters and boundary constraints, this approach was extended to more complex gait planning. As examples, three different gaits were generated, including start walking, stop walking and kicking a ball.