Falling-based optimal foot trajectory planning for 3D bipedal robotic walking

This paper presents a falling-based optimal foot trajectory planning method (FOFTP) for effective walking of bipedal robots in three-dimensional space. Our primary concern is to determine the optimal footstep location for the walking of bipedal robots based on a measure of falling. A proper strategy for the intermediate trajectory of the swing foot is also presented. The availability of the proposed FOFTP method is verified by simulation for an exemplary bipedal walking. It is finally expected that the proposed FOFTP method is available for effective task-based bipedal manipulation.