Humanoid Gait Pattern Generation with Orbital Energy

摘要

A novel approach has been proposed to generate the gait pattern of the humanoid robot with use of orbital energy concept. As the bipedal robots can be modeled as Linear Inverted Pendulum Model (LIPM) and rolling sphere model, the detailed discussion is presented here to generate stable walking pattern with help of this model. The intensive uses and advantages of the orbital energy concept have also been presented compared to different traditional approach of walking pattern generation. In this context, a novel algorithm has been proposed to generate 3D walking pattern of the bipedal robots, and how the 3D walking pattern can be approximated as the 2D walking pattern. All the analytical results are provided and verified with NaO robot (Biped robot).