ZMP-based biped running pattern generation with contact transition of foot

This paper proposes a method of running pattern generation for biped robot. Prescribed ZMP (zero moment point) pattern is used to generate CoM (center of mass) motion. The ZMP pattern is generated by moving-spring-loaded inverted pendulum (SLIP) model. To reduce the ground impact, transitional motion of the landing foot is proposed. And the motion of foot is determined by using difference of ZMP and projected position of CoM. The trajectory of CoM is proposed to allow an M-shaped ground reaction force as in humanpsilas foot in running and walking. The effectiveness and the performance of the proposed control algorithms are shown in computer simulations with a 7-DOF biped robot.