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arXiv · 1405.3103

Gait trajectory generation for a five link bipedal robot based on a reduced dynamical model

Yosra Arous·Olfa Boubaker
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Abstract

In this paper, a simple trajectory generation method for biped walking is proposed. The dynamic model of the five link bipedal robot is first reduced using several biologically inspired assumptions. A sinusoidal curve is then imposed to the ankle of the swing leg's trajectory. The reduced model is finally obtained and solved: it is an homogeneous second order differential equations with constant coefficients. The algebraic solution obtained ensures a stable rhythmic gait for the bipedal robot. It's continuous in the defined time interval, easy to implement when the boundary conditions are well defined.

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Yosra Arous, Olfa Boubaker. 2014-05-13. Gait trajectory generation for a five link bipedal robot based on a reduced dynamical model. https://doi.org/10.1109/melcon.2012.6196594

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