Online Trajectory Generation Based on Off-line Trajectory for Biped Humanoid

This paper proposed a method of online trajectory generation based on key parameters of off-line trajectories for a biped humanoid. The key parameters include hip parameters, step length, walking cycle and so on. The walk pattern can be obtained according to these parameters. In order to generate walk patterns online, first key parameters of the on-line walk pattern are computed based on the off-line parameters, and then the on-line trajectories are derived. The effectiveness of this method is confirmed by simulations and experiments with our developed humanoid robot BHR-01