Journal of Bionic Engineering

, Volume 8, Issue 1, pp 33–48 | Cite as

Planning and control of COP-switch-based planar biped walking

  • X. Luo
  • W. Li
  • C. Zhu


Efficient walking is one of the main goals of researches on biped robots. A feasible way is to translate the understanding from human walking into robot walking, for example, an artificial control approach on a human like walking structure. In this paper, a walking pattern based on Center of Pressure (COP) switched and modeled after human walking is introduced firstly. Then, a parameterization method for the proposed walking gait is presented. In view of the complication, a multi-space planning method which divides the whole planning task into three sub-spaces, including simplified model space, work space and joint space, is proposed. Furthermore, a finite-state-based control method is also developed to implement the proposed walking pattern. The state switches of this method are driven by sensor events. For convincing verification, a 2D simulation system with a 9-link planar biped robot is developed. The simulation results exhibit an efficient walking gait.


biped walking bio-inspired COP switch control multi-space planning simulation 


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Copyright information

© Jilin University 2011

Authors and Affiliations

  1. 1.School of Mechanical EngineeringSoutheast UniversityNanjingP. R. China
  2. 2.Department of Systems Life EngineeringMaebashi Institute of TechnologyGunma PrefectureJapan

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