A walking pattern generator for biped robots on uneven terrains

We present a new method to generate biped walking patterns for biped robots on uneven terrains. Our formulation uses a universal stability criterion that checks whether the resultant of the gravity wrench and the inertia wrench of a robot lies in the convex cone of the wrenches resulting from contacts between the robot and the environment. We present an algorithm to compute the feasible acceleration of the robot's CoM (center of mass) and use that algorithm to generate biped walking patterns. Our approach is more general and applicable to uneven terrains as compared with prior methods based on the ZMP (zero-moment point) criterion. We highlight its applications on some benchmarks.