A Short Review on Biped Robots Motion Planning and Trajectory Design

Abstract

Biped robots are similar to human beings in the context of physical appearance and joint configurations. The structure of the biped robot is strong, complex having multiple degrees of freedom representing a nonlinear system. Due to the increasing advent of biped robots in a vast range of scientific and diverse industrial fields, particularly in extremely hazardous environments, the biped needs much attention for scientific exploration and to attain stable walking control. The foundation for biped walking is efficient gait planning, and this potentially influences the overall performance of the biped robot as well as the stable dynamic balancing. The present study primarily briefs about the evolution of dual-legged robots and their motion planning for locomotion which are energy efficient. Later on, the study focused on gait trajectory design with different optimization techniques, and their application in the realization of active devices that assist adolescent and injured human subject. Moreover, the study recommends emerging cost-effective, adaptable devices. This assistive device is also termed as exo-suits or exoskeletons that assist in human walking as well as in daily life activities. The fixed redundant gait cycle and inability to generate natural human movements with adaptive to terrain are focused. This study deliberates certain inputs for the development of biped robots and their motion planning. In the end, the futuristic scope with formidable objectives is mentioned.