• Jesus E. Fierro P. Tecnologico Nacional de Mexico / Instituto Tecnologico de la Laguna
  • J. Alfonso Pamanes G. Tecnologico Nacional de Mexico / Instituto Tecnologico de la Laguna
  • Victor De-Leon-Gomez Universidad Autonoma de Coahuila
Keywords: Nao humanoid robot, gait, stability, cycloidal walking pattern, single support phase, double support phase


The commercial Nao humanoid robot has 11 DOF in legs. Even if these legs include 12 revolute joints, only 11 actuators are employed to control the walking of the robot. Under such conditions, the mobility of the pelvis and that of the oscillating foot are mutually constrained at each step. Besides, the original gait provided by the manufacturer company of the Nao employs only single support phases during the walking. Because of both issues, the reduced mobility in legs and the use of only single support phases, the stability of the walking is affected. To contribute to improving such stability, in this paper an approach is proposed that incorporates a double support phase and a gait based on cycloidal time functions for motions of the pelvis and those of the oscillating foot. To assess the stability of the walking an index is applied, which is based on the notion of zero-moment point (ZMP) of the static foot at each step. Results of experimental tests show that the proposed gait enhances the stability of the robot during the walking.


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Author Biographies

Jesus E. Fierro P., Tecnologico Nacional de Mexico / Instituto Tecnologico de la Laguna


Division of Postgraduate Studies and Research

J. Alfonso Pamanes G., Tecnologico Nacional de Mexico / Instituto Tecnologico de la Laguna

Full Professor

Division of Postgraduate Studies and Research

Victor De-Leon-Gomez, Universidad Autonoma de Coahuila

Full Professor

Faculty of Administration


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How to Cite
Fierro P., J. E., Pamanes G., J. A., & De-Leon-Gomez, V. (2019). CYCLOIDAL GAIT WITH DOUBLE SUPPORT PHASE FOR THE NAO HUMANOID ROBOT. EUREKA: Physics and Engineering, (6), 83-94.
Mechanical Engineering