Simplified Method for Humanoid Robot Gait Generation

  • Maksymilian SzumowskiEmail author
  • Magdalena Sylwia Żurawska
  • Teresa Zielińska
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper presents the new version of gait planning algorithm for humanoid robot. Gait with variable step length was considered. The method delivers the joint trajectories for given trajectory of the Zero Moment Point. The Preview Control concept was used. Results were obtained in simulations and were verified on the hardware. The algorithm was tested on planar 6 Degrees of Freedom humanoid robot. Robot performed defined number of steps without loosing its balance.


gait generation variable length step Preview Control humanoid robot 


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Maksymilian Szumowski
    • 1
    Email author
  • Magdalena Sylwia Żurawska
    • 1
  • Teresa Zielińska
    • 1
  1. 1.Warsaw University of TechnologyWarsawPoland

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