Optimal pattern generator for dynamic walking in humanoid robotics

This paper deals with an optimal ZMP based pattern generator for stable dynamic walking. The proposed method is based on a Three-Mass Linear Inverted Pendulum Model (3MLIPM), used as a simplified dynamics of the biped robot. The 3MLIPM simplifies the biped robot as a three point masses and two-link system. A ZMP based criterion is then used in an optimization problem whose solution gives the best values of the model´s parameters w.r.t. dynamic walking stability. Numerical simulations are presented to show the effectiveness of the proposed optimal pattern generator.