Kinematic and Dynamic Approaches in Gait Optimization for Humanoid Robot Locomotion

Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 430)


Humanoid robot related research keeps attracting many researchers nowadays because of a high potential of bipedal locomotion. While many researchers concentrate on a robot body movement due to its direct contribution to the robot dynamics, the optimality of a leg trajectory has not been studied in details yet. Our paper is targeted to decrease this obvious gap and deals with optimal trajectory planning for bipedal humanoid robot walking. The main attention is paid to maximization of locomotion speed while considering velocity, acceleration and power limitations of each joint. The kinematic and dynamic approaches are used to obtain a desired optimal trajectory. Obtained results provide higher robot performance comparing to commonly used trajectories for control bipedal robots.


Humanoids Bipedal walking Optimal trajectory planning 



This research has been supported by Russian Ministry of Education and Science as a part of Scientific and Technological Research and Development Program of Russian Federation for 2014–2020 years (research grant ID RFMEFI60914X0004) and by Android Technics company, the industrial partner of the research.


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© Springer International Publishing AG 2018

Authors and Affiliations

  1. 1.Intelligent Robotic Systems LaboratoryInnopolis UniversityInnopolis CityRussian Federation
  2. 2.Higher Institute of Information Technology & Information SystemsKazan Federal UniversityKazanRussian Federation

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