Romansy 16 pp 195-202 | Cite as

A Simplified Method for Generating 3D Gait Using Optimal Sagittal Gait

  • Tarik Saidouni
  • Guy Bessonnet
Part of the CISM Courses and Lectures book series (CISM, volume 487)


A simplified method for generating three-dimensional bipedal gait is presented. The approach consists in combining a lateral sway motion of the biped with an optimal sagittal movement. A method for computing the latter was presented in an earlier paper. The lateral movement is generated on the base of a simplified kinematic model and using a stochastic search method minimizing a dynamic performance criterion. Sagittal and frontal movements are successfully associated to produce well-balanced 3D-gait.


Humanoid Robot Pelvic Tilt Swing Phase Biped Robot Single Support Phase 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. Bessonnet, G., and Rostami, M. (2001), Sagittal gait of a biped robot during the single support phase. Part 2: optimal motion, Robotica 19, 241–253.CrossRefGoogle Scholar
  2. Channon, P.H., Hopkins, S.H., and Pham, D.T. (1992), Derivation of optimal walking motions for bipedal walking robot, Part 2, Robotica 10, 165–172.CrossRefGoogle Scholar
  3. Chettibi, T., and Lehtihet, H. E. (2002), A new approach for point to point optimal motion planning problems of robotic manipulators, 6 th Biennial Conference on Engineering systems design and analysis, ASME conference, July 8–11 2002, Istanbul, Turkey.Google Scholar
  4. Chevallerau, C., and Aoustin, Y. (2001), Optimal reference trajectories for walking and running of a biped robot, Robotica 19, Part 2, 557–569.CrossRefGoogle Scholar
  5. Espiau, B., and Sardain, P. (2000), The Anthropomorphic Biped BIP200, Proceedings of the International Conference on Robotics and Automation, San Francisco, CA-USA, April 2000, 3997–4002Google Scholar
  6. Hirai, K., Hirose, M., Haikawa, Y., and Takenaka, T. (1998), The Development of Honda humanoid robot, Proceedings of the International Conference on Robotics and Automation, Leuven, Belgium, 1321–1326.Google Scholar
  7. Kaneko, K., Kanehiro, F., Kajita, S., et al. (2004), Humanoid robot HRP-2, Proceedings of the International Conference on Robotics and Automation (ICRA 2004), April 26–May 1, New Orleans, USA, 1083–1090.Google Scholar
  8. McMahon, T.A. (1984), Mechanics of locomotion, International Journal of Robotics Research 3(2), 4–28.CrossRefGoogle Scholar
  9. Saidouni, T., and Bessonnet, G. (2002), Gait trajectory optimization using approximation functions, 5 th Int. Conference on Climbing and Walking Robots (CLAWAR), 25–27 September 2002, Paris, France, 709–716.Google Scholar
  10. Saidouni, T., and Bessonnet, G. (2004), Generating Impactless Gait of a Bipedal Robot, Proceedings of the 11th World Congress in Mechanism and Machine Science, 1–4 April, 2004, Tianjin, 1532–1536.Google Scholar
  11. Yamaguchi, J., Nishino, D., and Takanishi, A. (1998), Realization of dynamic biped walking varying joint stiffness using antagonistic driven joints, Proceedings of the International Conference on Robotics and Automation, Leuven, Belgium, 2022–2029.Google Scholar

Copyright information

© CISM, Udine 2006

Authors and Affiliations

  • Tarik Saidouni
    • 1
  • Guy Bessonnet
    • 2
  1. 1.Laboratory of Mechanics of StructuresEMPAlgeria
  2. 2.Laboratoire de Mécanique des SolidesUniversity of PoitiersFrance

Personalised recommendations