Adaptive gait algorithm for IWR biped robot

This paper is concerned with the ZMP (zero moment point) control algorithm for the IWR biped walking robot, which is under development in Korea. The authors introduce a ZMP control method of dynamic biped walking with a special trunk mechanism. The trunk is for balancing during walking, which requires a small balancing space in motion. Walking simulations with the IWR model are shown using the proposed ZMP control method. As a result, the various gaits generation for adapting to the different environments and system stabilization with complex trajectories of swing-leg and support-leg are presented