Trot pattern generation for quadruped robot based on the ZMP stability margin

Quadruped robot is expected to serve in complex conditions such as mountain road, grassland, etc., therefore we desire a walking pattern generation that can guarantee both the speed and the stability of the quadruped robot. In order to solve this problem, this paper focuses on the stability for the tort pattern and proposes trot pattern generation for quadruped robot on the basis of ZMP stability margin. The foot trajectory is first designed based on the work space limitation. Then the ZMP and stability margin is computed to achieve the optimal trajectory of the midpoint of the hip joint of the robot. The angles of each joint are finally obtained through the inverse kinematics calculation. Finally, the effectiveness of the proposed method is demonstrated by the results from the simulation and the experiment on the quadruped robot in BIT.