A Simple Algorithm for Generating Stable Biped Walking Patterns

摘要

This paper proposes a thorough algorithm that can tune the walking parameters (hip height, distance traveled by the hip, and times of single support phase SSP and double support phase DSP) to satisfy the kinematic and dynamic constraints: singularity condition at the knee joint, zero-moment point (ZMP) constraint, and unilateral contact constraints. Two walking patterns of biped locomotion have been investigated using the proposed algorithm. The distinction of these walking patterns is that the stance foot will stay fixed during the first sub-phase of the DSP for pattern 1, while it will rotate simultaneously at beginning of the DSP for pattern 2. A seven-link biped robot is simulated with the proposed algorithm. The results show that the proposed algorithm can compensate for the deviation of the ZMP trajectory due to approximate model of the pendulum model; thus balanced motion could be generated. In addition, it is shown that keeping the stance foot fixed during the first sub-phase of the DSP is necessary to evade deviation of ZMP from its desired trajectory resulting in unbalanced motion; thus, walking pattern 1 is preferred practically.