3D biped locomotion control including seamless transition between walking and running via 3D ZMP manipulation
Tomomichi Sugihara Kenta Imanishi Takanobu Yamamoto Stéphane Caron Tomomichi Sugihara Kenta Imanishi Takanobu Yamamoto Stéphane Caron
A novel control scheme for biped robots to manipulate the ZMP three-dimensionally apart from the actual ground profile is presented. It is shown that the linear inverted-pendulum-like dynamics with this scheme can represent a wider class of movements including variation of the body height. Moreover, this can also represent the motion in aerial phase. Based on this, the foot-guided controller propo...