Lateral Sway Motion Generation for biped robots using virtual supporting point

In this paper, Lateral Sway Motion Generation for biped robots using characteristic of LIPM with VSP that a supporting point can be flexibly moved is presented. The supporting point is set outside of biped robot y axis and under the ground, and COM is set inside of biped robot. We can regard LIPM with VSP as LIPM is slanted virtually. Therefore accelerate of LIPM with this way is larger than accelerate of LIPM only supporting point set under the ground, and this LIPM is able to be regarded as long leg pendulum. In addtion the supporting point move only Y axis. So X trajectory is affected by depth of suppoting point in ground say in other words length of pendulum leg, we can plan XY torajectory of COM, next we adjust Y trajectory using this method for same depth of supporting point. In addition we simulated and experimented two pattern only suporting point is set directly below and proposed method.