Realization of Biped Walking in Unstructured Environment Using Motion Primitives

Effective and efficient motion of humanoid robots in unstructured dynamic environments is a prerequisite for their activity in the living and working environment of humans. Motion in such environments has to be adjusted all the time to suit the current conditions. This paper presents a method for the synthesis and realization of the biped robot motion (walking) composed of simple movements-primitives, because any complex motion can be composed of tied primitives. The primitives are parametrized with the relationship established between the overall motion characteristics and their own parameters. This way, it is possible to achieve online modification at any moment. The proposed solution was tested by the simulation involving a dynamic robot model. The results demonstrate that it is possible to generate a dynamically balanced walk that can be modified online at any moment of its realization.