Trajectory planning for the walking biped lucy

Summary. A real-time joint trajectory generation strategy for the dynamic walk-ing biped ”Lucy ” [1, 2] is proposed. This trajectory planner generates dynamically stable motion patterns by using a set of objective locomotion parameters as its input, and by tuning and exploiting the natural upper body dynamics. The latter can be determined and manipulated by using the angular momentum equation. Basically, trajectories for hip and swing foot motion are generated, which guarantee that the objective locomotion parameters attain certain prescribed values. Additionally, the hip trajectories are slightly modified such that the upper body motion is steered naturally, meaning that it requires practically no actuation. This has the advan-tage that the upper body actuation hardly influences the position of the ZMP. The effectiveness of the developed strategy is proven by simulation results.