Abstract: Based on the configuration of the polyarticular biped walking machinery chair, the robot kinematics model is established through D-H method. By the walking gesture of the robot and the appraisal of the zero moment point (ZMP) in walking process analysis, a discretization optimization model is presented, which transforms process optimization into finite variable optimization. The appraisal of stability is used to optimize the walking process. Simulation study is provided on the dynamic walking procession. Result shows that the method adopted in this gait planning is available. These results can be used for the appraisal of stability in walking process of the polyarticular biped walking machinery chair and solving the multivariate functional problems of operating-mechanism of open loop multi-connecting rods.

Key words: Gait planning, Gait simulation, Optimization, Zero moment point(ZMP)