Abstract
Walking motion generation and validation have been a significant issue for biped humanoid robot. To generate more natural walking motions, and confirm the validity rapidly, this paper presents work on walking motion planning and validity verifying. Based on spline interpolation method, the walking motions in both sagittal and lateral planes are generated. Dynamic model is constructed with the toolbox of SimMechanics for Matlab, and the interactive forces between robot’s sole and ground are constrained in order to depict the state of balance. Dynamic model is driven by the walking motions which have been generated. The simulation and analysis demonstrate the validity of the motion which has been designed.
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