Backips performed by humanoid robots based on Extended Linear Inverted Pendulum Mode

Abstract

This paper proposes a method to realize a backip motion for humanoid robots. In each phase of the backip motion, the trajectory is planned. Besides, the Extended Linear Inverted Pendulum Mode (E-LIPM) is newly proposed to generate angular momentum that is needed for turning the body of the robot. In landing, an Impedance control is used to absorb the impact from the ground. Computer simulations of a backip by a 7-DOF humanoid robot were performed, whose results show that the proposed method works well. This method is expected to be used for more complex motions of humanoid robots.