Biped walking pattern generation by using preview control with virtual plane method

This paper describes a biped walking pattern generation by using preview control with virtual plane method. It is important for biped robots to generate desired walking patterns which satisfy given Zero-Moment-Point (ZMP) trajectories. Solving ZMP equation is one of the key issues in the biped walking research field. Many kinds of the solutions have ever been proposed. One of the most efficient solutions is using preview control to generate the walking patterns. However, conventional biped walking pattern generation by preview control cannot be applied to up-down motions of Center of Gravity (COG). Therefore, in this research, we propose a method that realizes walking pattern generation for moving the COG in vertical direction. The proposed method expands the versatility of walking pattern generation by using preview control. The effectiveness of the proposed method is confirmed by experimental results.