Real-time bipedal walking adjustment modes using Truncated Fourier Series formulation

This paper presents three basic bipedal walking gait adjustment modes: stride-frequency adjustment, step-length adjustment and biped lower extremities´ pattern adjustment. All the adjustment modes are based on the simple Fourier series formulation named as Truncated Fourier Series (TFS) model newly proposed as a walking pattern generator. Making use of these three gait adjustment modes, bipedal walking can be modified in real-time adaptive to the environment changes and resemble human walking response and features. Through dynamic walking simulations under various conditions, the gait adjustment modes are shown to be effective for adaptive walking on uneven terrains and real-time walking pace adjustment.