abstract
- Humanoid robot locomotion remains a challenging area in robotics due to the complexity of developing an efficient walking algorithm while keeping balance all the time. This normally involves the usage of a variety of concepts, such as the desired gait, the robot's dynamic model, and balance control. The objective of this chapter is to help the reader understand these concepts by adding some graphical explanations. Some fundamental concepts will first be introduced. Then, three of the most used dynamic models for walking, the Linear and Angular model, the Cart-Table model and the Linear Inverted Pendulum model, will be analyzed. Finally, an open-loop walking algorithm will be briefly explained.