Trajectory generation and control of a biped walking robot based on the double generating functions method

An optimal trajectory generation method named the double generating functions method is proposed, recently. Since the on-demand computation for different step lengths and different step periods is almost zero, it would be very useful to the real robot walking control. However, the stability of the generated trajectory is not considered. This paper proposes a cost function containing the term of Zero-Moment Point (ZMP) to guarantee the stability (in the sense of the ZMP) of the generated reference trajectory for real biped robots. The experiment verifies the effectiveness of the proposed cost function and the double generating functions method.