Abstract
This paper generates the walking trajectory reference with the method of natural Zero Moment Point (ZMP) criterion and Linear Inverted Pendulum Model (LIPM), and then proposes an approach to adjust the ZMP reference according to the gait parameters. The reference equations of the center of mass (CoM) of the biped robot are coupled with the interpolation function of the ankle joint. Assuming the height of biped robot hip is constantly during a step, the simulation shows that the height of CoM varies less than 2.6%, which can be further reduced via adjusting the gait height of the swing foot. Finally, using Natural ZMP-based reference and considering the legs mass, the kinematics simulation of a biped prototype is performed in MATLAB. The results show that the CoM trajectory is stable, and the variation of CoM trajectory compared to its reference is less than 0.6%.
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Wu, G., Xiao, X., Liu, L., Luo, W., Ye, X., Yang, Y. (2012). Stable Gait Planning for Biped Robot’s Lower Limb Based on Natural ZMP Trajectories. In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7508. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33503-7_33
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DOI: https://doi.org/10.1007/978-3-642-33503-7_33
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