Study on Gait Planning of Dynamic Walking of Biped Robots Based on Optimization Theory

摘要

In this paper. two important problems in the gait planning of dymamic walking of biped robot, i. e., finding inverse kinemdtic solution and constructing joint trajectories, are studied in detail’by adopting complex optimization theory. The optimization algorithm for finding the inverse kinematic solution is developed, the construction method of joint trajectories is given, and the gait planning method of dynamic walking of biped robots is proposed.