Locomotion planning research for a humanoid robot based on the ZMP

In this paper, we describe the problems of lower limb joint locomotion track planning and upper limb joint angle planning based on the ZMP for a humanoid robot, with present lower limb joint angle formulas. For some lower limb joints, tracks are planned by using some key positions in locomotion. For all upper limb joints and head joints, we use some key angles to plan joint angles. We have analyzed the locomotion stability using the ZMP as stable criterion and presented the optimal function when searching the coax tracks. Then we compute all lower limb joint angles using some lower limb joint tracks. Finally, we give the simulation results.