In-plane path planning for biped robots based on bezier curve

Biped robots path planning must suit several stability requirements of bipedal locomotion. Specifying an appropriate path with proper physical and geometrical constraints is essential due to the limited workspace for limbs. Bezier curve is a suitable solution since it is smooth, parametric and configurable for biped robots and leads to flexible trajectory generation by determination of a few control points in a plane. This paper is focused on proposing a systematic method to generate velocity profile and practical path planning with consideration of acceleration limits. Experimental results are compared with simulated ones in diverse maneuvers to verify this approach.