Objective locomotion parameters based inverted pendulum trajectory generator

This paper describes a new trajectory generator for Lucy, a bipedal walking robot actuated by pleated pneumatic artificial muscles. The strategy is based on the inverted pendulum approximation, which models the robot as a single point mass. The trajectory generator allows the step length, intermediate foot lift and velocity to be chosen for each step while keeping the Zero Moment Point (ZMP) in the ankle point during the single support phase and it provides a smooth transition of the ZMP from the rear ankle point to the front ankle point during the double support phase.The path of the ZMP is discussed for a complete multibody model instead of a single point mass. The proposed trajectory generator has been tested in the robot and the results are presented and discussed.