Walking Pattern Generation for Humanoid Robot Considering Upper Body Motion

Walking pattern generation is a main issue for humanoid robot. We have already proposed a method for planning stable walking pattern. Based on this method, this paper mainly discusses generating stable and harmonious walking pattern by considering upper body motion, and planning hip trajectories in both sagittal plane and lateral plane. To reduce the iterative computation cost, some constraints of the relationship between sagittal hip motion and lateral hip motion are formulated, and only the trajectories satisfy these constraints are worked out. Finally, we determine the trajectory with a large stability margin from these generated trajectories. The effectiveness of the proposed method is confirmed by simulations and experiments with our developed humanoid robot BHR-02 with 32 DOF