Stable Locomotion of a 12 DoF Biped by Planning Centre of Mass Motion

EasyChair Preprint 13482, version 2

Abstract

This work presents a stable locomotion of a 12 DoF biped using motion planning of its Centre of Mass (CoM). The biped is modelled as a 3-D Linear Inverted Pendulum (LIP). The walking pattern is generated using the CoM motion planner and foot pattern generator so that the CoM stays inside the Support Polygon (SP) created by feet during the locomotion. Ultimately, simulation and hardware results of biped locomotion using the proposed methodology are presented.

Keyphrases: biped, locomotion, stability

@booklet{EasyChair:13482,
  author    = {Hurath Ramkumar and Garima Bansal and Alinjar Dan and Subir Kumar Saha},
  title     = {Stable Locomotion of a 12 DoF Biped by Planning Centre of Mass Motion},
  howpublished = {EasyChair Preprint 13482},
  year      = {EasyChair, 2024}}