Gait Planning of Biped Robot by Nonholonomic System with Difference-Equation Constraints

We propose a new gait planning for biped robot by using nonhoronomic model with difference-equation constraints. The model of pivoting telescopic segment is employed as the kinematic foot stamp motion of bipedal. The repetitive and discontinuous constraints of pivoting, expanding and contracting make the set of walking trajectory. We can make walking trajectories online so that the input is only goal state.