Parametric-based dynamic synthesis of 3D-gait

This paper describes a dynamic synthesis method for generating optimal walking patterns of biped robots having a human-like locomotion system. The generating principle of gait is based on the minimisation of driving torques. A parametric optimisation technique is used to solve the underlying optimal control problem. Special attention is devoted to foot-ground interactions in order to ensure a steady dynamic balance of the biped. Transition states between step sub-phases are fully optimised together with step length and sub-phase lengths with respect to a given walking velocity. The data needed to generate purely cyclic steps can be reduced to the forward velocity.