Fast Bipedal Walk Using Large Strides by Modulating Hip Posture and Toe-heel Motion

Zhibin Li, Nikos G. Tsagarakis, Darwin G. Caldwell

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Typically most humanoid robots walk with relatively
small strides even on the level ground, and consequently
their walking speed is fairly slow compared to humans. One
reason is that the constraint of the constant COM (Center of
Mass) height, which is for decoupling the frontal and lateral
motion, produces the characteristic bent knee feature of walking
robots and requires higher motor torques. The other reason is
the feet trajectory limitation which demands the feet remain
parallel to the ground. The parallel foot placement feature,
using no toe-off and heel-strike motions, means that robots have
to lower their hip height to perform large strides. This paper
studies a trajectory generation method that enables fast bipedal
walking with large strides. We address this issue by formulating
a hip pattern generator and a feet trajectory generator with
toe-off and heel-strike motions, based on the preview control.
This scheme is applied to a dynamic simulation of the child
humanoid ”iCub”, which demonstrates successful gaits in large
strides at the average speed from 1.08 km/h to 2.52 km/h.
Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Biomimetics
Place of PublicationTianjin, China
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Number of pages6
ISBN (Print)978-1-4244-9319-7
Publication statusPublished - 2010


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