Theoretical study of biped gait planning based on optimization theory

Guanzheng Tan

doi:10.1117/12.217560

28 August 1995 Theoretical study of biped gait planning based on optimization theory

Guanzheng Tan

Proceedings Volume 2620, International Conference on Intelligent Manufacturing; (1995) https://doi.org/10.1117/12.217560
Event: International Conference on Intelligent Manufacturing, 1995, Wuhan, China

Abstract

In this paper, based on the complex optimization theory, the gait planning of biped robots is studied theoretically and a method of biped gait planning is proposed. This method is developed by taking the general model of biped robots as the object of study, so it is suitable to all kinds of biped robots. It can be used not only in the gait plannings of static walking but in those of dynamic walking. In order that this method can be used correctly, some technicalities are explained and discussed yet in the paper.

Citation Download Citation

Guanzheng Tan "Theoretical study of biped gait planning based on optimization theory", Proc. SPIE 2620, International Conference on Intelligent Manufacturing, (28 August 1995); https://doi.org/10.1117/12.217560

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