Trajectory generation of biped robots using Linear Pendulum Mode with virtual supporting point

The trajectory generation methods of biped robots using Linear Pendulum Mode(LPM) with Virtual Supporting Point(VSP) are proposed. LPM is the method that a biped robot is approximated by a pendulum hanged from the ceiling. VSP is the concept that virtually maneuvers the supporting point of a pendulum model. Manipulating the supporting point using VSP, the COG trajectories of LPM of two motions are generated in this paper. One is the motion of double support phase for the landing earlier than planned. Biped robots often land earlier than arranged. At the time, the robots don´t achieve the desired condition. It causes the unstable walking to the robots. The trajectory of double support phase is generated considering for the different condition from the plan. Another is the stop motion. Biped robots are able to smoothly stop with the COG velocity and acceleration of 0. The stop time and the stop position of COG are specified. The availability of proposed methods is confirmed by simulations and experiments.