Abstract
Gait planning is essential for biped robots because the stability of the two support is very challenging task. A special attention is required to get a stabilized gait for humanoid robots. In this paper, 3D-LIPM (linear inverted pendulum model) is used to solve the gait planning problems of humanoid robots. Humanoid robot NAO is utilized as robotic platform. The structure of the robotic platform decides the period step height and step length. The gait planning consists of model of 3D-LIPM and ZMP (zero moment point). Simulation and experiments are carried out on simulated and real NAO, and showing good agreement with each other. An ideal controlled gait is obtained using the proposed technique.
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