No CrossRef data available.
Published online by Cambridge University Press: 09 September 2016
This paper presents a parameterized gait generator based on linear invertedpendulum model (LIPM) theory, which allows users to generate a natural gaitpattern with desired step sizes. Five types of zero moment point (ZMP)components are proposed for formulating a natural ZMP reference, where ZMP movescontinuously during single support phases instead of staying at a fixed point inthe sagittal and lateral plane. The corresponding center of mass (CoM)trajectories for these components are derived by LIPM theory. To generate aparameterized gait pattern with user-defined parameters, a gait planningalgorithm is proposed, which determines related coefficients and boundaryconditions of the CoM trajectory for each step. The proposed parameterized gaitgenerator also provides a concept for users to generate gait patterns withself-defined ZMP references by using different components. Finally, thefeasibility of the proposed method is validated by the experimental results witha teen-sized humanoid robot, David, which won first place in the sprint event atthe 20th Federation of International Robot-soccer Association (FIRA) RoboWorldCup.