Abstract
The normalization method is utilized in this paper for gait planning of small humanoid robot, and hence generating the normalized trajectory curves for parameters such as three dimensional coordinates and rotation angle and achieving omni-directional legged locomotion of robot. The advantages of this method include less computational complexity of controller, on-line real-time planning of robot, and better stability in motion and flexibility in control. Test results demonstrate that the robot can walk stably towards all directions at the walking speed of 0.8km/h.
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