Preview Control-Based Online Walking Pattern Generation for Biped Robots with Vertical Center-of-Mass Motion

摘要

In this paper, we propose a method for generating the center-of-mass (CoM) pattern for biped robots. One of the most common methods for CoM pattern generation is to approximate the robot's complex dynamics as alinear inverted pendulum model, applies preview controls, and generates CoM trajectories. However, the vertical motion of CoM is neglected during this approximation process. In this study, we formulate the preview control problem considering the dynamics of the CoM vertical motion and propose an algorithm to solve it. The results of numerical experiments to evaluate the proposed algorithm show it is more stable than the existing algorithm and can be sufficiently fast for online operation.