Humanoid robot´s omnidirectional walking

The development of humanoid robots has great advantages[1] including economically efficient, appreciation-worthy, and etc. This paper proposes an omnidirectional gait generation mode based on linear centroid motion and the cubic spline interpolation. And then, based on the ZMP stability criterion, online feedback regulation is conducted on the robots´ centroid according to the positional relationship of the centroid and ZMP. The result of the simulation verifies that the method can effectively implement a fast and stable omnidirectional walk for the humanoid robots.