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The effect model construction and 3D visualization of auricular point pivot regulation of brain neural","award":["2020C03107"],"award-info":[{"award-number":["2020C03107"]}]},{"name":"Public welfare technology research project of Zhejiang Provinces Science Foundation in China. The effect model construction and 3D visualization of auricular point pivot regulation of brain neural","award":["201803023000889"],"award-info":[{"award-number":["201803023000889"]}]},{"name":"Public welfare technology research project of Zhejiang Provinces Science Foundation in China. The effect model construction and 3D visualization of auricular point pivot regulation of brain neural","award":["Y01331833"],"award-info":[{"award-number":["Y01331833"]}]},{"name":"Key R&amp;D Program of Zhejiang Province. Research on Intelligent Service Technology and Equipment of Health and Elderly Care\u2014support the research and application development of medical nursing care robot and elderly care service system of Internet hospitals","award":["LGF20F020009"],"award-info":[{"award-number":["LGF20F020009"]}]},{"name":"Key R&amp;D Program of Zhejiang Province. Research on Intelligent Service Technology and Equipment of Health and Elderly Care\u2014support the research and application development of medical nursing care robot and elderly care service system of Internet hospitals","award":["2020C03107"],"award-info":[{"award-number":["2020C03107"]}]},{"name":"Key R&amp;D Program of Zhejiang Province. Research on Intelligent Service Technology and Equipment of Health and Elderly Care\u2014support the research and application development of medical nursing care robot and elderly care service system of Internet hospitals","award":["201803023000889"],"award-info":[{"award-number":["201803023000889"]}]},{"name":"Key R&amp;D Program of Zhejiang Province. Research on Intelligent Service Technology and Equipment of Health and Elderly Care\u2014support the research and application development of medical nursing care robot and elderly care service system of Internet hospitals","award":["Y01331833"],"award-info":[{"award-number":["Y01331833"]}]},{"name":"Basic Research (free exploration) Project of Shenzhen Science and Innovation Commission in China. Research on trajectory optimization of humanoid robot based on multi-objective population evolution","award":["LGF20F020009"],"award-info":[{"award-number":["LGF20F020009"]}]},{"name":"Basic Research (free exploration) Project of Shenzhen Science and Innovation Commission in China. Research on trajectory optimization of humanoid robot based on multi-objective population evolution","award":["2020C03107"],"award-info":[{"award-number":["2020C03107"]}]},{"name":"Basic Research (free exploration) Project of Shenzhen Science and Innovation Commission in China. Research on trajectory optimization of humanoid robot based on multi-objective population evolution","award":["201803023000889"],"award-info":[{"award-number":["201803023000889"]}]},{"name":"Basic Research (free exploration) Project of Shenzhen Science and Innovation Commission in China. Research on trajectory optimization of humanoid robot based on multi-objective population evolution","award":["Y01331833"],"award-info":[{"award-number":["Y01331833"]}]},{"name":"Guangdong Postgraduate Education Innovation Program Project. Graduate Cultivation Demonstration Base Jointly Established by Southern University of Science and Technology of China and Leju (Shenzhen) Robotics Company of China","award":["LGF20F020009"],"award-info":[{"award-number":["LGF20F020009"]}]},{"name":"Guangdong Postgraduate Education Innovation Program Project. Graduate Cultivation Demonstration Base Jointly Established by Southern University of Science and Technology of China and Leju (Shenzhen) Robotics Company of China","award":["2020C03107"],"award-info":[{"award-number":["2020C03107"]}]},{"name":"Guangdong Postgraduate Education Innovation Program Project. Graduate Cultivation Demonstration Base Jointly Established by Southern University of Science and Technology of China and Leju (Shenzhen) Robotics Company of China","award":["201803023000889"],"award-info":[{"award-number":["201803023000889"]}]},{"name":"Guangdong Postgraduate Education Innovation Program Project. Graduate Cultivation Demonstration Base Jointly Established by Southern University of Science and Technology of China and Leju (Shenzhen) Robotics Company of China","award":["Y01331833"],"award-info":[{"award-number":["Y01331833"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>This paper introduces a novel approach to bipedal robot gait generation by proposing a higher-order form through the parameter equation of first-order Bessel interpolation. The trajectory planning for the bipedal robot, specifically for stepping up or down stairs, is established based on a three-dimensional interpolation equation. The experimental prototype, Roban, is utilized for the study, and the structural sketch of a single leg is presented. The inverse kinematics expression for the leg is derived using kinematic methods. Employing a position control method, the angle information is transmitted to the robot\u2019s joints, enabling the completion of both downstairs simulation experiments and physical experiments with the Roban prototype. The analysis of the experimental process reveals a noticeable phenomenon of hip and ankle joint tilting in the robot. This observation suggests that low-cost bipedal robots driven by servo motors exhibit low stiffness characteristics in their joints.<\/jats:p>","DOI":"10.3390\/biomimetics9040201","type":"journal-article","created":{"date-parts":[[2024,3,28]],"date-time":"2024-03-28T12:22:46Z","timestamp":1711628566000},"page":"201","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["Bipedal Robot Gait Generation Using Bessel Interpolation"],"prefix":"10.3390","volume":"9","author":[{"given":"Zhen","family":"Wang","sequence":"first","affiliation":[{"name":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Qingfeng","family":"Li","sequence":"additional","affiliation":[{"name":"Health Management System Engineering Center, School of Public Health, Hangzhou Normal University, Hangzhou 311121, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9756-2805","authenticated-orcid":false,"given":"Lei","family":"Kou","sequence":"additional","affiliation":[{"name":"Institute of Oceanographic Instrumentation, Qilu University of Technology (Shandong Academy of Sciences), Qingdao 266075, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Danni","family":"Zheng","sequence":"additional","affiliation":[{"name":"Health Management System Engineering Center, School of Public Health, Hangzhou Normal University, Hangzhou 311121, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8198-5168","authenticated-orcid":false,"given":"Wende","family":"Ke","sequence":"additional","affiliation":[{"name":"Department of Mechanical and Energy Engineering, Southern University of Science and Technology, Shenzhen 518055, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dongxin","family":"Lu","sequence":"additional","affiliation":[{"name":"Health Management System Engineering Center, School of Public Health, Hangzhou Normal University, Hangzhou 311121, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2024,3,28]]},"reference":[{"key":"ref_1","unstructured":"Kajita, S., and Tani, K. 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