CPC B25J 9/1664 (2013.01) | 20 Claims |
1. A computer-implemented gait planning method for a robot having two legs including a left leg and a right leg, comprising steps of:
determining a reference leg length l0 and a leg length variation range A of the robot;
performing a trajectory planning on a leg length of at least one of the legs of the robot using an equation including the reference leg length, the leg length variation range, and a preset recurrent excitation function of a time variable t.
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