Application of Cubic Spline Interpolation to Walking Patterns of Biped Robot Aye
نویسنده
چکیده
This paper presents cubic spline interpolation based trajectory planning method which is aiming to achieve smooth biped robot walking trajectory. We first characterize the bipedal walking cycle and point out some major issues that need to be addressed to plan a continuous swing leg trajectory by using the concept of cubic polynomial and cubic spline interpolation. By applying these interpolations, the walking trajectory will be smooth and continuous. This paper will provide application of smooth walking trajectory of biped robot. Keywords—Biped robot, bipedal walking cycle, cubic polynomial, cubic spline interpolation, smooth walking trajectory.
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