A Method for Lateral Motion Planning on the Biped Robot

A new non-bionic method of lateral motion based on the quasi-passive research methods is presented which need not move center of mass (COM) to supporting foot in advance. The method can be achieved in the ordinary biped robot, which has a simple, controllable increasing quality and so on. Firstly, Process of lateral motion planning of the biped robot is introduced in detail. Then, trajectory of COM of the biped robot is analyzed by Lagrangian method and the feet and other parts are also planned in the different time of step. Finally, stability analysis and Optimized approach of the method has provided. The results of experiment show that the results of experiment in my paper show that the method is feasibility and validity.