3D cycloidal walking pattern for humanoids and application to the bioloid robot

Abstract

A family of functions describi ng a 3D walking pattern for humanoid robots is proposed in this pa- per. Such functions define cycloidal motions of the hip and the moving foot of the robot, for both linear and ro- tational displacements. As result, smooth, impactless and stable walking of the robot is achieved. A small num- ber of parameters of the proposed functions allow the user to modify the features and appearance of the walk- ing. This approach is applied for walking of the Bioloid humanoid robot, with 12 dof in legs. The software named TrayArtBio , developed in Matlab© as a tool for motion planning and programming of the robot by using the proposed cycloidal motions, is also described. The walking of a virtual model of the Bioloid with the pro- grammed motions can be observed on a PC in order to anal yze the feasibility of walking. Then, a walking of the real robot can be accomplished. Results of this application show the effe ctiveness of the proposed pattern and the usefulness of TrayArtBio