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October 2, 2025BiomimeticsOpen Access

Walking Pattern Generation Through Step-by-Step Quadratic Programming for Biped Robots

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The proposed method generates natural walking trajectories for biped robots using a single optimization step, improving control over dynamics.
By incorporating the double and single support phases into one step, this approach enhances the walking pattern generation process for biped robots.
Using quadratic optimization with terminal constraints, the method addresses nonlinear effects on the Zero Moment Point, allowing for better stability and movement.
Simulations and experiments validate the method by demonstrating effective walking on flat ground and stairs with the Neubot biped robot.

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This method integrates walking phases and uses quadratic optimization, indicating improved trajectory generation for biped robots.

Liu et al. (2025) studied this question.

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