A Swing-foot Trajectory Generation Method For Biped Walking*

Pattern generation is the basis of balanced motion for biped robots, especially when highly dynamic motions are desired. For fast walking, convention pattern generation based on LIPM (linear inverted pendulum model) alone can’t guarantee balance of the robot, while pattern generation based on full-body dynamics takes a lot of time. This paper proposes a swing-foot trajectory generation method for biped walking, which aims to minimize the velocity and acceleration of swing leg. Experiment showed that biped walking of 4km/h can be achieved with optimized swing-foot trajectory.