Online Running Trajectory Planning for Bipedal Robots based on ZMP and Eulers Equations

概要

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This paper is presenting a method to generate online running trajectories that can be applied to bipedal humanoid robots. The proposed method is based on maintaining the overall dynamic balance by using the ZMP stability criterion throughout support phases. To be able to reach this goal, we utilize ZMP equations in spherical coordinates, so that the rate change of angular momentum terms in ZMP equations are included naturally by using Eulerian equations of motion for unsymmetrical bodies. Thus, undesired torso angle fluctuation is expected to be more restrainable comparing to other methods in which angular momentum information is ignored or zero-referenced. Moreover, we employ projectile motion dynamics throughout flight phases. Applying the aforementioned technique, we simulated bipedal running motion on a dynamic 3-D simulator. In conclusion, we obtained repetitive and successful running cycles which consistently verify the proposed method.