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• W2507612881 abstract "Abstract This paper presents a parameterized gait generator based on linear inverted pendulum model (LIPM) theory, which allows users to generate a natural gait pattern with desired step sizes. Five types of zero moment point (ZMP) components are proposed for formulating a natural ZMP reference, where ZMP moves continuously during single support phases instead of staying at a fixed point in the sagittal and lateral plane. The corresponding center of mass (CoM) trajectories for these components are derived by LIPM theory. To generate a parameterized gait pattern with user-defined parameters, a gait planning algorithm is proposed, which determines related coefficients and boundary conditions of the CoM trajectory for each step. The proposed parameterized gait generator also provides a concept for users to generate gait patterns with self-defined ZMP references by using different components. Finally, the feasibility of the proposed method is validated by the experimental results with a teen-sized humanoid robot, David, which won first place in the sprint event at the 20th Federation of International Robot-soccer Association (FIRA) RoboWorld Cup." @default.
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• W2507612881 date "2016-09-09" @default.
• W2507612881 modified "2023-09-25" @default.
• W2507612881 title "Parameterized gait pattern generator based on linear inverted pendulum model with natural ZMP references" @default.
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• W2507612881 doi "https://doi.org/10.1017/s0269888916000138" @default.
• W2507612881 hasPublicationYear "2016" @default.
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