안정적인 ZMP 궤적을 추정하는 2족 로봇의 궤적 생성

Abstract

In this paper, the trajectory generation method for a biped robot to follow a stable ZMP trajectory is proposed. In order to generate the walking trajectory, the robot is modeled as one particle. And the momentum equation with respect to the desired ZMP(Zero Moment Point) of the robot is used. The desired ZMP of the simplified model should be fixed at supporting foot during a single support phase and moves from the current supporting foot to next supporting foot. An initial position and last position of the desired ZMP are used to generate the trajectory for the double support phase. During the double support phase, the desired ZMP trajectory is generated by using Null space to follow the stable ZMP trajectory. The biped robot can walk stably by following the stable ZMP trajectory through the proposed trajectory generation method. The effectiveness of the proposed method was proved through simulations.