Yaw moment compensation of biped fast walking using 3D inverted pendulum

The restriction factors for fast biped walking are the problem of ZMP and the influence of the yaw moment around support leg. In this paper, we use 3D inverted pendulum model as the walking trajectory to resolve the problem of ZMP and improved the trajectory of double support phase to enable biped fast and stable walking. Then this paper proposes the compensation by rotating the waist joint, based on the swing leg trajectory to reduce the yaw moment. 40% decrease of the yaw moment and the improvement of walking stability proved by the 1.2[km/h] walking simulation. We succeeded 1.7[km/h] walking simulation as highest speed so for. In the experiment, we succeeded 0.35[km/h] walking at this moment.