3D gait planning based on discrete-time kinematic model of biped walking

This paper proposes a model-based 3D gait planning method. A discrete-time kinematic model, of which vertical motions are independent of horizontal motions, describes the biped walking of the humanoid robot. We can obtain the optimal plan by solving a constrained optimization problem on footholds of the model. A goal-tracking evaluation of this problem on horizontal footholds achieves to reach the goal, and vertical motions are accomplished to adopt the limitation of the work space of the feet and the condition contacting the 3D field surface. A quadratic programming method was implemented to solve the problem based on humanoid robot NAO in a real-time.