# PlaCo Bipedal Gait Analysis: ZMP-Constrained Trajectory Optimization and Weighted Inverse Kinematics

- Source: Guyuehome
- Published: 2026-11-02T11:16:00.000Z
- RoboHot: https://robohot.news/en/items/mfymvtlu7b6oitm7ompicqhcp
- Original: https://www.guyuehome.com/detail?id=2108666430959415298

## Summary

Gu Yue Ju analyzes the PlaCo humanoid gait pipeline: a linear inverted pendulum trajectory optimization using jerk as the decision variable keeps the ZMP inside the support polygon, cubic splines connect the swing foot, and weighted QP inverse kinematics maps the center of mass and both foot targets into 26-dimensional joint velocities, completing continuous turning walking.