Motion Planning of Humanoid Robots Walking in Any Direction on Plane Surfaces with Arbitrary Orientation

This chapter presents an approach for planning stable motions of a humanoid robotHumanoid robots while walkingWalking. The proposed motions are based on cycloidal time functions of the pelvis and the free foot of the robot. The parameters employed by such functions must be appropriately specified by the user, considering the behavior of the ZMP given by the simulationSimulation of the humanoid dynamicsDynamics. This approach considers the robot moving on a plane surface with arbitrary orientation, walkingWalking in a straight path in any direction. The method is applied to the Bioloid Premium Humanoid robotHumanoid robots and its efficacy is experimentally validated.