Biped Walking with Variable ZMP, Frictional Constraint, and Inverted Pendulum Model

摘要

In this paper, characteristics of dynamic biped walking is discussed. With derived stable biped walking condition, biped walking is separated into initial acceleration, double support, deceleration, and acceleration phases. Two walking patterns of fixed ZMP case and variable ZMP case are discussed and their characteristics are summarized. And the approach for adjusting walking velocity by controlling landing point is developed.