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In this paper, we present a new way to generate biped patterns online. Linear Inverted Pendulum and Zero Moment Point are employed as the dynamic basics. The simplified walking concept is introduced to describe the complete biped motions with the unit of a walking step, instead of a time step of the robot’s working time in usual methods. With this concept, the complex flexible motion planning can be realized with a low computation cost. We also propose the approach to design periodic biped motions and connect these motions together. The validity of our approach is demonstrated by experiments on simulated and real Nao robots. 1.
Liu et al. (2009) studied this question.