Biped walking planning using extended linear inverted pendulum mode with a continuous moving ZMP

Xuechao Chen; Qiang Huang; Zhangguo Yu; Wei Xu; Jing Li; Gan Ma

doi:10.1109/ICMA.2011.5985846

Biped walking planning using extended linear inverted pendulum mode with a continuous moving ZMP

Xuechao Chen^*, Qiang Huang, Zhangguo Yu, Wei Xu, Jing Li, Gan Ma

^*Corresponding author for this work

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Citations (Scopus)

Abstract

This paper extends the Linear Inverted Pendulum Mode, which only considers the dynamics of single support phase, to Extended Linear Inverted Pendulum Mode, which covers the dynamics of both single support phase and double support phase. A novel method to plan a continuous moving ZMP trajectory is proposed to obtain a biped walking pattern with less fluctuations of walking velocity and soft landing. An analytic motion expression of the Center of Mass is deduced. Finally, the proposed pattern generation method is verified by simulation and experiment.

Original language	English
Title of host publication	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Pages	1280-1285
Number of pages	6
DOIs	https://doi.org/10.1109/ICMA.2011.5985846
Publication status	Published - 2011
Event	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 - Beijing, China Duration: 7 Aug 2011 → 10 Aug 2011

Publication series

Name	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Conference

Conference	2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011
Country/Territory	China
City	Beijing
Period	7/08/11 → 10/08/11

Keywords

Biped walking
LIPM
ZMP

Access to Document

10.1109/ICMA.2011.5985846

Cite this

Chen, X., Huang, Q., Yu, Z., Xu, W., Li, J., & Ma, G. (2011). Biped walking planning using extended linear inverted pendulum mode with a continuous moving ZMP. In 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 (pp. 1280-1285). Article 5985846 (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011). https://doi.org/10.1109/ICMA.2011.5985846

@inproceedings{d4ed3f53534247b3839eb9807591a798,

title = "Biped walking planning using extended linear inverted pendulum mode with a continuous moving ZMP",

abstract = "This paper extends the Linear Inverted Pendulum Mode, which only considers the dynamics of single support phase, to Extended Linear Inverted Pendulum Mode, which covers the dynamics of both single support phase and double support phase. A novel method to plan a continuous moving ZMP trajectory is proposed to obtain a biped walking pattern with less fluctuations of walking velocity and soft landing. An analytic motion expression of the Center of Mass is deduced. Finally, the proposed pattern generation method is verified by simulation and experiment.",

keywords = "Biped walking, LIPM, ZMP",

author = "Xuechao Chen and Qiang Huang and Zhangguo Yu and Wei Xu and Jing Li and Gan Ma",

year = "2011",

doi = "10.1109/ICMA.2011.5985846",

language = "English",

isbn = "9781424481149",

series = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011",

pages = "1280--1285",

booktitle = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011",

note = "2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011 ; Conference date: 07-08-2011 Through 10-08-2011",

}

Chen, X, Huang, Q, Yu, Z, Xu, W, Li, J & Ma, G 2011, Biped walking planning using extended linear inverted pendulum mode with a continuous moving ZMP. in 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011., 5985846, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, pp. 1280-1285, 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011, Beijing, China, 7/08/11. https://doi.org/10.1109/ICMA.2011.5985846

Biped walking planning using extended linear inverted pendulum mode with a continuous moving ZMP. / Chen, Xuechao; Huang, Qiang; Yu, Zhangguo et al.
2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011. 2011. p. 1280-1285 5985846 (2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Biped walking planning using extended linear inverted pendulum mode with a continuous moving ZMP

AU - Chen, Xuechao

AU - Huang, Qiang

AU - Yu, Zhangguo

AU - Xu, Wei

AU - Li, Jing

AU - Ma, Gan

PY - 2011

Y1 - 2011

N2 - This paper extends the Linear Inverted Pendulum Mode, which only considers the dynamics of single support phase, to Extended Linear Inverted Pendulum Mode, which covers the dynamics of both single support phase and double support phase. A novel method to plan a continuous moving ZMP trajectory is proposed to obtain a biped walking pattern with less fluctuations of walking velocity and soft landing. An analytic motion expression of the Center of Mass is deduced. Finally, the proposed pattern generation method is verified by simulation and experiment.

AB - This paper extends the Linear Inverted Pendulum Mode, which only considers the dynamics of single support phase, to Extended Linear Inverted Pendulum Mode, which covers the dynamics of both single support phase and double support phase. A novel method to plan a continuous moving ZMP trajectory is proposed to obtain a biped walking pattern with less fluctuations of walking velocity and soft landing. An analytic motion expression of the Center of Mass is deduced. Finally, the proposed pattern generation method is verified by simulation and experiment.

KW - Biped walking

KW - LIPM

KW - ZMP

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U2 - 10.1109/ICMA.2011.5985846

DO - 10.1109/ICMA.2011.5985846

M3 - Conference contribution

AN - SCOPUS:81055149801

SN - 9781424481149

T3 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

SP - 1280

EP - 1285

BT - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

T2 - 2011 IEEE International Conference on Mechatronics and Automation, ICMA 2011

Y2 - 7 August 2011 through 10 August 2011

ER -

Biped walking planning using extended linear inverted pendulum mode with a continuous moving ZMP

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Keywords

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