Method of Omnidirectional Movement of Humanoid Robot

Abstract

In order to solve the problems in the high computation, mono moving direction, low real time effect when switching gaits and unstable switching steps, etc., a fast computing method for omnidirectional motion planning of humanoid robot is proposed. The motion planning based on module design helps to obtain the moving trajectories in directions and the direction-switching algorithm based on one of multiple steps of segments helps to interconnect directional movements and realize the stability and fluency. The validity of method is proved by experiments.