Stable Bipedal Walking Generation based on Orbital Energy and Zero Moment Point

Abstract

In this paper, We present detailed discussion of Orbital energy concept to generate the walking pattern of Bipedal robots.As the bipedal robots can be modeled as the LIPM (Linear Inverted Pendulum Mode) and rolling sphere model,so the detailed discussion present here to generate stable walking pattern with help of these model.We also present the intensive use and advantage of the orbital energy concept compared to different traditional approach of walking pattern generation.In context, we also propose an algorithm to generate 3D walking pattern of the bipedal robots,and how the 3D walking pattern can be approximated as the 2D walking pattern.All the analytical results are provided and verified with NaO robot (Biped robot).