Landing timing method for determining the two-legged robot and a biped walking robot

摘要

It provides a method of determining the timing of the landing foot bipedal walking robot. First, this method, the ZMP equation that represents the trajectory of the center of gravity, including a first-leg grounding period to stand at only the first leg, the second-leg grounding period to stand at only the second leg next to the first-leg ground period , are solved using landing timing previously given. Then the second leg ZMP position that represents the ZMP position in the second-leg ground period is calculated. If it is out of the second leg ZMP permissible region is the second leg ZMP position is calculated, is determined to correspond to the landing area of ​​the second leg, the second leg ZMP position becomes the second leg ZMP permissible region I want to modify the landing timing as.