A simple trajectory generation method for biped walking

This paper proposes a simple trajectory generation method for biped walking. This method needs only three trajectory control parameters, which are the stepping cycle, the length of a step and the max height of swing foot. The trajectory of robot´s stance leg is generated by using the 3DLIPM (three dimensional linear inverted pendulum mode), and the combination of sinusoid curves is used to generate the swing leg´s trajectory. This method has been applied on an actual biped robot. The result shows that this simple method is suitable for practical application well.