Fast Walking Gait Planning Algorithm for Humanoid Robots Based on Optimization of the Main Support Leg

This paper brings forward a fast walking gait planning algorithm based on optimization of the main support leg, which utilizes the characteristics of fast dynamic walking to plan the ZMP(Zero Moment Point) to get away from the projection area of mass center in good time and stay always within the stable area. During the gait planning process, the collision between the robot's swing foot and ground is considered. The gait cycle is generated in deep optimizations.