Humanoid Robot Gait Planning Based on Key Frame Similarity

To reduce computation and time of the traditional gait plan method,this paper presents a stable gait planning method based on key frame similarity algorithm of humanoid robot.Through measure similarity of the gait key frame,planning the hip movement,adjusting robot's Zero Moment Point(ZMP),it implements on-line gait generation of curve walking and the adjustment gait can better approximation actual ZMP curve.Practice result shows that this method can solve the gait of a humanoid robot stable and rapid planning at the same time in reducing computation,and it can reduce time consumption when gait selection is not ideal.