Abstract
This paper presents a trajectory generation algorithm with which a three-dimensional (3D) biped robot can perform aperiodic gaits by modifying only a small set of gait parameters. In addition to the double support phase (DSP), the gait can transit smoothly from one single support phase (SSP) to another. We decouple the sagittal and coronal dynamics, firstly. In the sagittal plane, the linear inverted pendulum model (LIPM) is used to generate the walking reference trajectory during the SSP. An extra template model, linear pendulum model (LPM), is added to describe the motion in the DSP. For the coronal plane, we only utilize the LPM for trajectory generation. Thanks to linearity properties, the proposed method can obtain the biped locomotion computationally fast without the need for numerical time-integration. Herein, we also introduce the trajectory generation algorithm for different aperiodic gaits including from standing to walking, stopping walking, as well as speed switch. A full-dynamics 3D humanoid robot is used for the tests of the developed reference trajectory through simulation. The results are promising for implementations.
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