The parametric design of the gait of the biped robot

Based on the 7-link dynamic model in the sagittal plane and the 5-link dynamic model in the Lateral plane, the parametric gait of the biped robot has been designed using walking velocity, step length and height; According to the condition of the stability, body swings forward and backward to dynamically balance in sagittal plane and the whole biped swings left and right to dynamically balance in lateral plance; In the parametric design, motion of the swing leg of biped robot is planned into a parabola to keep self-balance in lateral plane and avoid coupling error; Finally, the simulation of walking dynamically was presented using a team of parameters.