Kinematic optimization and online adaptation of swing foot trajectory for biped locomotion

Biped locomotion involves many degree of freedom (DOF). Some of the DOFs can be decided upon objectives of the locomotion and balance maintenance. However, there are often redundant DOFs, which are decided with heuristic criteria. On the other hand, walking speed is often limited by the maximum permissible joint speed, which is affected by the given heuristic trajectory. In this paper, we propose a kinematic optimization method to reduce maximum joint speed for enhancing mobility of the locomotion. The method was evaluated with experiment.