Walking Planning Based on Artificial Vector Field with Prediction Simulation for Biped Robot

Abstract

This paper proposes a way of gait trajectory generation with artificial vector field for stable walking of a biped robot. The tip of the robot on walking can often deviate from the desired trajectory by the disturbances forced by unexpected outside factors. In our approach, though no prepared trajectory is specified a priori, the tip follows the artificial vectors designed in the workspace. Moreover, the prediction simulation is performed on-line. The simulator judges the stability under comparison with the present state and the prediction results, and then the gait parameters are adaptively improved in feedforward for the stable walk. The numerical and physical experimental results show the validity of the proposed method in the continuous walk.