Follow my step: A framework for biped robots to imitate human walking

This paper presents a motion planning framework to generate continuous walking gait on a biped robot using kinesthetic teaching. While imitating human leg movement, the generated gait could also track a given swing foot trajectory and a given ZMP trajectory simultaneously, so as to form a stable stride with an expected foot displacement. An algorithm based on local linearization and nonlinear optimization is proposed to achieve single foot stance motion planning. An ad-hoc double loop is designed to handle the change of supporting foot so as to form a continuous walking gait with multiple steps. The algorithm is firstly verified via simulation results, then shows its robustness in experiments on the THU-Striker, a 1.34m humanoid robot in robocup2014, Brazil.