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In this study, a heuristic model-free gait template planning method with dynamic motion control is proposed. The gait trajectory can be generated by inputting the desired speed, walking cycle, and support height without a model. Then, the stable walking of the biped robot can be realized by foothold adjustment and whole-body dynamics model control. The gait template can be changed in real time to achieve gait flexibility of the biped robot. Finally, the effectiveness of the method is verified by simulations and experiments of the biped robot BHR-B2. The research presented here helps improve the gait transition ability of biped robots in dynamic locomotion.<\/jats:p>","DOI":"10.1017\/s026357472200162x","type":"journal-article","created":{"date-parts":[[2022,11,15]],"date-time":"2022-11-15T08:55:47Z","timestamp":1668502547000},"page":"789-805","source":"Crossref","is-referenced-by-count":14,"title":["A heuristic gait template planning and dynamic motion control for biped robots"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-6992-2343","authenticated-orcid":false,"given":"Lianqiang","family":"Han","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-1136-3053","authenticated-orcid":false,"given":"Xuechao","family":"Chen","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhangguo","family":"Yu","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2961-6023","authenticated-orcid":false,"given":"Zhifa","family":"Gao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gao","family":"Huang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jintao","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Kenji","family":"Hashimoto","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Qiang","family":"Huang","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2022,11,15]]},"reference":[{"key":"S026357472200162X_ref20","doi-asserted-by":"crossref","first-page":"377","DOI":"10.1017\/S0263574721000631","article-title":"Feasible speeds for two optimal periodic walking gaits of a planar biped robot","volume":"40","author":"Hobon","year":"2022","journal-title":"Robotica"},{"key":"S026357472200162X_ref18","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574719001553"},{"key":"S026357472200162X_ref5","doi-asserted-by":"publisher","DOI":"10.34133\/2020\/1310389"},{"key":"S026357472200162X_ref14","doi-asserted-by":"crossref","unstructured":"[14] Mesesan, G. , Englsberger, J. and Garofalo, G. , \u201cDynamic Walking on Compliant and Uneven Terrain Using DCM and Passivity-Based Whole-Body Control,\u201d In: IEEE-RAS 19th International Conference on Humanoid Robots IEEE (2019) pp. 25\u201332.","DOI":"10.1109\/Humanoids43949.2019.9035053"},{"key":"S026357472200162X_ref30","doi-asserted-by":"publisher","DOI":"10.1016\/j.neunet.2020.07.033"},{"key":"S026357472200162X_ref34","doi-asserted-by":"crossref","unstructured":"[34] Fengy, S. 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