Research on Walking Gait Algorithm for Biped Soccer Robot

After the outline on biped robot walking gaits at home or aboard is summarized, some representational gait algorithms are presented. So the use of a control trajectory algorithm based on cubic polynomials to achieve a smoother dynamic walking on a biped robot is proposed. Firstly, the ankle torque equations of biped soccer robot are derived in accordance with the world coordinate of the ZMP. Then, the hip trajectory and swing foot trajectory for single support phase are deduced by cubic polynomials, according to gait traits of HIT soccer robot. Consequently, the energy constraints, which are used to keep the smooth movement of robot, are given. Finally, after the simulation data and penalty kick process based on the FIRA rules are analyzed, the effectiveness of these gait algorithms is validated