Smooth Real-Time Walking-Pattern Generation for Humanoid Robot LOLA

This video demonstrates our new approach for planning smooth center-of-mass trajectories for biped walking robots. The method is based on quintic spline interpolation and collocation and generates dynamically and kinematically feasible motions in real-time.本视频展示了我们针对双足步行机器人（biped walking robots）的质心（center-of-mass）平滑轨迹规划全新方法。该方法基于五次样条插值（quintic spline interpolation）与配点法（collocation），可实时生成满足动态与运动学约束的可行运动。