Harmonic gait under primitive DOF for biped robot

Abstract

Here argues about an effective and an energy less-consuming walking for a humanoid type of robot. There are many humanoid types of robots in the world that can walk, run, dance, and get up, etc. Those are mostly used and enjoyed in the field of entertainment for kids' pleasures. For any other usages, humanoid types of robots are not practical enough in a daily life usage or in factory usages or in any others. Because the robotics movements are not smooth enough and not effective enough for doing things in them, that is to say, the stable biped walking and the energy optimization biped walking (series of those walking figures) could not meet the necessary conditions for the expected usages or for other purposes. So here introduces a new idea of humanoid type of harmonic gait, which makes a robot move more effectively and an energy less-consuming walking. © 2009 Springer Berlin Heidelberg.