Review of Studies on Biped Robot Gait

Gait designs were divided into two main categories: reference trajectory and natural dynamics.The former is based on walking data,central pattern generator or dynamic model.The latter is classified into passive dynamics and virtual model control.The advantages and disadvantages of the two main gait designs were analyzed.The future study is to increase walking efficiency for reference trajectory,and to add more functions for natural dynamics.The application of reinforcement learning in gait design and the problem of the curse of dimension were discussed.