Using Cubic Spline Interpolation Algorithm to Plan the Gait

Lei QIAN

College of mechanical and Vehicular Engineering, Chongqing Jiaotong University, Chongqing, 400074, China

Abstract: This document research the object of nao. In the gait planning application of cubic spline function method. According to the position of each joint at the critical moment, Planning its trajectory throughout the walk cycle. First of all, according to the law of the Nao robot to walk forward cycle, Draw a key moment in the gait cycle posture, Then build a cubic spline function, planning out the Nao robot gait trajectory, In order to verify the feasibility of the robot gait, finally validating on RoboCup3D simulation platform.

Keywords: Nao; Walking pattern planning; Cubic spline interpolation