Walking Pattern Generation Through Step-by-Step Quadratic Programming for Biped Robots.

ABSTRACT: The control of a biped robot is a challenging task due to the hard-to-stabilize dynamics. Generating a suitable walking reference trajectory is a key aspect of this problem. This article proposes a novel method of generating walking patterns for biped robots. The method integrates the double support phase and the single support phase into one step, and uses this step as the unit for trajectory generation through quadratic optimization with terminal constraints based on the Linear Inverted Pendulum Model, enabling us to shorten the optimization horizon while still generating natural walking trajectories. Moreover, by restricting the position and acceleration of the center of mass (COM) in the vertical direction, an excessive constraint is formed on the Zero Moment Point (ZMP) to offset the

SUBMITTER: Liu G 

PROVIDER: S-EPMC12561234 | biostudies-literature | 2025 Oct

REPOSITORIES: biostudies-literature