Gait Synthesis and Biped Locomotion Control of the HRP-4 Humanoid

Abstract

The aim of this paper is to present all the phases needed by a humanoid to perform bipedal locomotion, from walking pattern generation to joint control, passing through kinematic and dynamic modeling. All these phases are applied to the HRP-4 humanoid for simulation experiments. Amongst the different gait pattern generation methods, the 3D LIP method is chosen, while to obtain the inverse kinematic model the geometric approach is applied, and the classical Euler-Lagrange method is implemented to derive the dynamics of the planar (Sagittal) biped walking. A feedback linearization control was developed for joint references tracking. Finally, simulation results are obtained to analyze the performance of designed controllers.