A Bipedal Locomotion Planning with Double Support Phase Based on Linear Inverted Pendulum Mode

In this paper, a bipedal locomotion planning with double support phase based on linear inverted pendulum (LIPM) is proposed. In order to achieve the desired center of gravity (COG) position and velocity in walking motion of the bipedal robot, in calculation of COG trajectory in double support phase, 5 dimension polynomial is used to realize the desired motion. Foot placement and COG trajectory are calculated separately. Boundary conditions of the polynomial are derived from foot placement planning. Walking simulation is implemented in 3D physics simulator. In the result, by applying 5 dimension polynomial in trajectory planning in double support phase, the desired COG position and velocity are better obtained. In contrast with conventional method, the desired robot motion is better realized. 3D simulation results verified the validity of the proposed method.