GAIT SYNTHESIS FOR A BIPED ROBOT

In this paper, the realization of biped walking on even floor, sloping surfaces, and stairs is studied. The motion trajectories for the bipe d's body and its two feet are modeled by piecewise cubic polynomials. The main features of the biped robot include two variable-length legs and a moving weight which can be positioned side-to-side for balance. The contribution of this paper is gait synthesis and is experimental v erification.