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《Automation & Information Engineering》 2019-01
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Real-Time Gait Control Algorithm Based on Pre-Planning

Ding Yu;Du Yuxiao;Huang Xiuping;Lu Guanxiong;Zeng Chunmiao;Wang Qiapeng;Niu Haoyang;School of Automation,Guangdong University of Technology;  
Bipedal robot can adapt to almost all complex terrain, and the stability of gait is the prerequisite for bipedal robot to adapt to terrain changes. In this paper, by combining the features of terrain and the position of the robot, the stable motion is calculated, that is, the pre-movement planning is completed before the robot walks. A series of steps, such as building kinematics model, designing posture and judging stability, are completed to complete the gait planning.
【CateGory Index】: TP242
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