In this paper, we solve the gait planning problem by using the Flexible LIP model, which has been shown to be more realistic w.r.t. the LIP for cost-effective or compliant biped robots for gait generation. We extend a stable inversion approach to obtain bounded Center of Mass (CoM) reference trajectories and show several advantages compared to preview control: avoidance of numerical integration, lower computation time, exact tracking of reference Zero Moment Point (ZMP) trajectories, and the ability to come to an immediate stop.
CITATION STYLE
Lanari, L., Urbann, O., Hutchinson, S., & Schwarz, I. (2017). Boundedness approach to gait planning for the flexible linear inverted pendulum model. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9776 LNAI, pp. 58–70). Springer Verlag. https://doi.org/10.1007/978-3-319-68792-6_5
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