Trajectory-free dynamic locomotion using key trend states for biped robots with point feet

This study proposed a human-inspired-based KTS design method and control framework for UBRs. A trajectory-free motion planning method was directly applied to joint angles, and it is simple and convenient to design KTSs according to human motion. We put forward several parts of the balance control method to achieve realtime dynamic and stable movement. This method can support large joint trajectory errors and avoid optimization of a complex model. Our methods can run and control the robot at 1 kHz. Based on this motion generation and control framework, we realized a walking experiment of the biped robot. This planning method has being used to generate a running motion.