Biped Robot Walking Using Gravity-compensated Inverted Pendulum Mode

Abstract

Using the GCIPM to generate a biped locomotion pattern to improve the stability of biped robot,being similar to the one generated by the IPM,accommodates the free leg dynamics based upon its predetermined trajectory.When the biped locomotion based upon the IPM is applied to real biped robots,the stability of the robot is disturbed due to the fact that the neglected dynamics of free legs is not actually negligible,moving the ZMP away from the presumed fixed point.The GCIPM includes the effect of dynamics of the free leg.Simulation results show that the biped robot is more stable with the walking pattern generated by the GCIPM than the one by the IPM.