Biped walking planning using Extended Linear Inverted Pendulum Mode with a continuous moving ZMP

This paper extends the Linear Inverted Pendulum Mode, which only considers the dynamics of single support phase, to Extended Linear Inverted Pendulum Mode, which covers the dynamics of both single support phase and double support phase. A novel method to plan a continuous moving ZMP trajectory is proposed to obtain a biped walking pattern with less fluctuations of walking velocity and soft landing. An analytic motion expression of the Center of Mass is deduced. Finally, the proposed pattern generation method is verified by simulation and experiment.