A Fifth Degree Polynomial Curve Modification to 3D-LIPM Based Robot Walking Pattern

摘要

This paper introduces an improved method of biped walking. We analyse the walking pattern of Robots based on the theories of 3D-LIPM, with special focus on the velocity and acceleration of its center of mass(CoM) when Robot changes its supporting leg. It finds that both velocity and acceleration are discontinuous. To solve the problem, a fifth-degree polynomial curve is inserted and the solutions of the coefficients are calculated. Effect of the solution on ZMP are also analysed.