Realization of On-line Trajectory Generation Based on Two-computer System of Humanoid Robot BHR-02

This paper proposed a method of realizing online trajectory generation based on two-computer system of humanoid robot BHR-02. The trajectory generation is based on key parameters of off-line typical walk patterns for a biped humanoid. The computer system includes motion control computer, Memolink, and vision computer. We designed the distributed architecture and realization software including online trajectory generation module and motion control module, which can reduce computation burden of motion control computer and occupy less memory, change gait online and satisfy the demand of real time capability. The effectiveness of the proposed method is confirmed by experiments with our developed humanoid robot with 32 DOFs.