Zero-Moment Point-Based Biped Robot with Different Walking Patterns

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Hayder F. N. Al-Shuka 1,2,* Burkhard J. Corves 2 Bram Vanderborght 3 Wen-Hong Zhu 4

1. RWTH Aachen University, Department of Mechanism and Machine Dynamics, Germany

2. Baghdad University/College of Engineering, Mechanical Engineering Department, Iraq

3. Department of Mechanical Engineering, Vrije Universiteit Brussel, Belgium

4. Canadian Space Agency, Canada

* Corresponding author.


Received: 20 May 2014 / Revised: 10 Aug. 2014 / Accepted: 4 Oct. 2014 / Published: 8 Dec. 2014

Index Terms

Biped robot, Zero-moment point, Walking pattern generators, Gait cycle, Single support phase, Double support phase


This paper addresses three issues of motion planning for zero-moment point (ZMP)-based biped robots. First, three methods have been compared for smooth transition of biped locomotion from the single support phase (SSP) to the double support phase (DSP) and vice versa. All these methods depend on linear pendulum mode (LPM) to predict the trajectory of the center of gravity (COG) of the biped. It has been found that the three methods could give the same motion of the COG for the biped. The second issue is investigation of the foot trajectory with different walking patterns especially during the DSP. The characteristics of foot rotation can improve the stability performance with uniform configurations. Last, a simple algorithm has been proposed to compensate for ZMP deviations due to approximate model of the LPM. The results show that keeping the stance foot flat at beginning of the DSP is necessary for balancing the biped robot.

Cite This Paper

Hayder F. N. Al-Shuka, Burkhard J. Corves, Bram Vanderborght, Wen-Hong Zhu, "Zero-Moment Point-Based Biped Robot with Different Walking Patterns", International Journal of Intelligent Systems and Applications(IJISA), vol.7, no.1, pp.31-41, 2015. DOI:10.5815/ijisa.2015.01.03


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