DCM-Based Gait Generation for Walking on Moving Support Surfaces

Abstract

This paper presents a novel walking gait generator that allows the successful traversal of moving support surfaces such as conveyor belts, moving plates and escalators. The gait generator previews all steps of a complete gait sequence, while providing efficient matrix-vector based computations. The moving support surfaces are explicitly taken into account for the trajectory design. Multiple successful simulations of walking on different non-stationary ground surfaces prove the high quality of the proposed walking gait generator.