In order to solve problem of continuous gait planning of lower limb exoskeleton robot

a gait planning algorithm based on the inverted pendulum model is proposed

and a new improved method is proposed for the traditional inverted pendulum model which can not change the step size continuous walking problem. First of all

the exoskeleton robot is divided into two parts

which are supporting leg and swinging leg

respectively using D-H method for kinematics analysis; using inverted pendulum model and fixed function method for equivalent centroid and swing leg end trajectory planning; insert double feet support phase between adjacent single foot support phase

which makes the lower extremity exoskeleton robot

switch position and velocity using double feet support phase while changing walking

to achieve real-time gait planning. Finally

the plan algorithm is implemented in SIMULINK

and joint simulation is carried out with ADAMS model

the lower extremity exoskeleton robot walks stably in the simulation environment

it is proved that the algorithm is effective.