Development of Walking Gaits for a Small Humanoid Robot

P. Lam and J. Baltes (New Zealand)


Humanoid Robot, Walking Gait


This paper attempts to exploit methods for developing a natural dynamic motion for small humanoid robots. The frontal swing of the gait or bipedal walking algorithms can be modelled by a simple inverted pendulum model. With a combination of bezier curves, we can implement a smooth gait which looks natural. Further work is aimed at using reinforcement learning of the parameters of the walking gait.

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