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In this paper, a method for a biped robot to run with a velocity change by selecting its foot landing position appropriately is proposed. The zero moment point (ZMP) is used as the criteria to identify the stability of the biped robot. The ZMP is estimated by the position of the center of mass (COM) and the acceleration of the robot. This means that by setting an appropriate ZMP for the robot, the...
This paper proposes a method of running pattern generation for biped robot. Prescribed ZMP (zero moment point) pattern is used to generate CoM (center of mass) motion. The ZMP pattern is generated by moving-spring-loaded inverted pendulum (SLIP) model. To reduce the ground impact, transitional motion of the landing foot is proposed. And the motion of foot is determined by using difference of ZMP and...
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