9 링크 이족로봇의 부드러운 걸음새 경로 계획

A Smoothed Gait Trajectory Planning of a 9-link Biped Robot

We propose an analytic trajectory planning method using a wavelet neural network (WNN) for a natural and stable locomotion of the 9-link biped robot. We design a appropriate locomotion, which have a kick-action, by means of a ballastic walking model condition. In this paper, a WNN is used to interpolate the trajectory planed by the analytic method. Finally, we show the proposed trajectories through the computer simulation.