Trajectory Planning of Flexible Walking for Biped Robots Using Linear Inverted Pendulum Model and Linear Pendulum
Long Li1, Zhongqu Xie1, Xiang Luo1
1School of Mechanical Engineering, Southeast University, Nanjing 211189, China.
Sensors (Basel, Switzerland)
|February 9, 2021
Summary
This study introduces a linear pendulum model (LPM) to improve biped robot stability by incorporating the double support phase (DSP). This enhances center of mass (CoM) acceleration smoothness, enabling more stable and flexible robot locomotion.
Area of Science:
- Robotics
- Control Systems
- Biomechanics
Background:
- The Linear Inverted Pendulum Model (LIPM) is a common simplification for biped robot locomotion.
- LIPM omits the double support phase (DSP), causing discontinuous center of mass (CoM) acceleration and reduced walking stability.
- Smoother CoM acceleration during leg transitions is crucial for enhanced bipedal stability.
Purpose of the Study:
- To propose a Linear Pendulum Model (LPM) that incorporates the double support phase (DSP) into biped robot walking models.
- To develop real-time trajectory-planning methods for various walking scenarios, including speed adjustment and terrain adaptation.
- To enhance the stability and flexibility of biped robots by integrating LIPM and LPM.
Main Methods:
- Developed a Linear Pendulum Model (LPM) analogous to LIPM, featuring linear dynamics and analytical solutions.
- Proposed computationally efficient trajectory-planning algorithms for real-time application.
- Implemented and simulated biped robot walking by combining LIPM for the single support phase (SSP) and LPM for the DSP.
Main Results:
- The proposed LPM effectively models the double support phase (DSP) with linear dynamics.
- Trajectory-planning methods demonstrated real-time capability for diverse walking conditions.
- Simulations confirmed that combining LIPM and LPM significantly improves biped robot walking stability and flexibility.
Conclusions:
- Integrating a linear pendulum model (LPM) for the double support phase (DSP) enhances biped robot walking stability.
- The proposed real-time trajectory-planning methods are effective for various dynamic walking scenarios.
- The combined LIPM and LPM approach offers a robust and flexible solution for bipedal locomotion.
Keywords:
biped robotsdouble support phaselinear inverted pendulum modellinear pendulum modelsingle support phasetrajectory planningMore Related Videos
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