Research on Biped Robot Gait in Double-support Phase

This paper presented the gait of biped robot with actively driven toe-joint, established 9-link model of biped robot in sagittal plane, planned the gait with cubic spline interpolation and analyzed the change of supporting areas and the dynamic capability by comparing three different gaits in double-support phase. Basing on the theory of ZMP (zero moment point) and simulating the gait in Matlab, it suggests that the gait of biped robot with actively driven toe-joint has many advantages over the others without it, such advantages include torques, angles and angle velocities of ankle joints and knee joints are smaller; and under the same condition of joints, the robot with toe-joint can realize larger walking step and quicker walking speed.