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This paper presents a modified gait generation method based on height compensation of center of mass (HCCOM) for biped humanoid robots. The method combines natural gait plan (NGP) and 3-D linear inverted pendulum model (3D-LIPM). By analyzing the human natural gait, the HCCOM considers the effect of swinging leg for COM height, so the hip height is no longer fixed and re-planned as a periodic movement...
ROBONOVA-1 robot is a kind of new type humanoid robot, which can offer educators, students and robotic hobbyists a complete robot package. In order to better study and develop the function of this robot, according to the analysis of its configuration and gait, a seven bar linkage mechanism is established. The lateral walking trace of the robot is planned by using the method of geometry constraints...
A non-time reference gait planning method is proposed. The usual reference variable, time, is substituted by a non-time variable in gait, so the whole gait-planning phase can be divided into two phases, (1) planning the space walking path: Taking the forward locomotion of upper-body as reference variable, considering the constraint of the environment, the walking path of a robot without collision...
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