Eulerian ZMP Resolution: An Online Method to Generate Biped Running Trajectory Based on Euler's Equations and ZMP

摘要

This article introduces a new method to generate biped running motion, which is based on the fusion of Euler's equations of motion in ZMP criterion. Firstly, aforementioned principles are unified in spherical coordinate system. Hereby, a complete description of the stability is obtained both for sagittal and lateral planes. Solving the differential equations which are arised from this stability description, we obtained CoM (Center of Mass) trajectory for a given support phase. Moreover, this method allows us to apply cascade feedback loops in order to stabilize disturbances or external effects which may occur in distinct levels. To be able to test this method, we performed biped running simulation using the exact model of our biped robot MARI-3. Simulation results indicate that stable and repetitive running motion cycles are obtained for a specific time interval.