A modified gait generator for humanoid robots based on height compensation of center of mass

This paper presents a modified gait generation method based on height compensation of center of mass (HCCOM) for biped humanoid robots. The method combines natural gait plan (NGP) and 3-D linear inverted pendulum model (3D-LIPM). By analyzing the human natural gait, the HCCOM considers the effect of swinging leg for COM height, so the hip height is no longer fixed and re-planned as a periodic movement. We divide the walk gait into four stages and indicate the process of gait generation. For the test platform, we develop IPR-I robot, through the simulation and experimental analysis, the HCCOM can effectively solve the swinging leg´s effect on COM height, get stable and practical gait, reduce effect of the model inaccuracy for the 3D-LIPM.