Gait planning for a biped robot using prediction feedback

The fast rhythm and real-time changed environment campaign like humanoid soccer robot, which requires players with rapid reaction and efficient executive abilities. In this paper we mainly proposed a method to develop a prediction feedback gait planning for a bipedal robot. A predictive control in the approach is based on the double linear inverted pendulum, and generating a motion trajectory of the robot´s trunk in the premise of keeping dynamic balance. Apollo3D used this gait planning method, and have proved the feasibility and advantages of this method in RoboCup3D simulation game.