Gait generation on humanoid robot simulation

[Moster]

Hi, everyone..

I have developed my humanoid simulation program. I also want to make my robot walk in the simulation. However I don't know how to do it, now I can move each joint of the robot but not have any gait generation module yet.
Have anyone can give me a guideline to develop the gait generation...

[limor]

you need to read up about ZMP and other approaches.
(great subject, but unfortunately i dont have time to elaborate now )

[i-Bot]

Some useful introduction slides here on the Darwin-OP site:
http://sunet.dl.sourceforge.net/project/darwinop/Tutorials/DARwIn-OP_UPenn_Tutorial.pdf
Source code is also now there too for the UPenn software.