Overview of Gait Synthesis for the Humanoid COMAN

Chengxu Zhou, Xin Wang, Zhibin Li, Nikos Tsagarakis

Research output: Contribution to journalArticlepeer-review


This paper focuses on the developments of a generic gait synthesis for the humanoid robot COMAN. Relying on the essential Gait Pattern Generator (GPG), the proposed synthesis offers enhanced versatilities for the locomotion under different purposes, and also provides the data storage and communication mechanisms among different modules. As an outcome, we are able to augment new abilities for COMAN by integrating new control modules and software tools at a cost of very few modifications. Moreover, foot placement optimization is introduced to the GPG to optimize the gait parameter references in order to meet the robot's natural dynamics and kinematics, which enhances the synthesis's robustness while it's being implemented on real robots. We have also presented a practical approach to generate pelvis motion from CoM references using a simplified three-point-mass model, as well as a straightforward but effective idea for the state estimation using the sensory feedback. Three physical experiments were studied in an increasing complexity to demonstrate the effectiveness and successful implementation of the proposed gait synthesis on a real humanoid system.
Original languageEnglish
Pages (from-to)15-25
Number of pages11
JournalJournal of Bionic Engineering
Issue number1
Early online date1 Mar 2017
Publication statusPublished - Mar 2017


  • humanoid robots
  • bipedal locomotion
  • gait synthesis
  • dynamic walking


Dive into the research topics of 'Overview of Gait Synthesis for the Humanoid COMAN'. Together they form a unique fingerprint.

Cite this