Extending zero moment point to a segment using reduced order biped model

摘要

The problem of generating stable trajectories for a six effective degree of freedom quasi-static biped robot in sagittal plane is considered. A special algorithm that maps the full sagittal plane robot into a simplified biped robot model with bounded parametric uncertainties is presented. The full robot is reduced to one inverted pendulum and two quasi-static coupled pendulums. Zero Moment Point (ZMP) stability theory is extended to the special case with uncertainties. This Zero Moment Point extended approach helps in understanding quasi-static to quasi-dynamic transition effects. Finally, a special algorithm is developed using the reduced model robot to obtain stable geometric gaits.