A Gait Planning Method for Biped Heel-and-toe Robot

The paper taking the 6-DOF biped heel-and-toe robot as the research object, according to the expected walking pose and gravity center of the robot, using the Denavit-Hartenberg formula to establish the kinematics model and kinematics equation of the biped heel-and-toe robot. Under the ZMP criterion conditions, the kinematics equations in each discrete point are solved out via the walking pose, and constituted the motion joints curves. The simulation results of motion joints curves from the Matlab proved that the method of gait planning can achieve the aim of biped heel-and-toe robot's stable dynamic walking.