ZMP Reference Trajectory Generation for Biped Robot with Inverted Pendulum Model by Using Virtual Supporting Point

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  • Suzuki Tomoyuki
    Department of System Design Engineering, Keio University
  • Tsuji Toshiaki
    Department of Mechanical Engineering, Faculty of engineering Division I, Tokyo University of Science
  • Shibuya Maki
    Department of System Design Engineering, Keio University
  • Ohnishi Kouhei
    Department of System Design Engineering, Keio University

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  • 仮想支点を用いた倒立振子モデルによる2足ロボットのZMP参照軌道生成
  • カソウ シテン オ モチイタ トウリツ フリコ モデル ニ ヨル 2ソク ロボット ノ ZMP サンショウ キドウ セイセイ

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Abstract

Motion planning of a biped robot based on ZMP is quite popular in recent years. In this method, ZMP reference trajectory is planned at first so that ZMP stays inside of the support polygon. Then, walking pattern is generated based on the trajectory. Conventional methods based on ZMP reference trajectory did not take the dynamics of bipedal locomotion into account. Therefore, the basis of the motion planning was ambiguous and the biped robot did not get human-like walking. This paper proposes ZMP reference trajectory generation with inverted pendulum model by using VSP (Virtual Supporting Point). With this, smooth ZMP reference trajectory based on the dynamics of the inverted pendulum is generated uniquely according to the desired stride and walking cycle.

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