A Walk Primitive with Double Support for Biped Robots  

作　　者：Guoshuai Liu Zhiguo Lu Zhongqing Li Jin Xuan Aizun Liu 

机构地区：[1]School of Mechanical Engineering and Automation,Northeastern University,Shenyang,110819,China [2]Aerospace Times FeiHong Technology Company Limited,Organization,Beijing,100094,China

出　　处：《Journal of Bionic Engineering》2025年第1期133-143,共11页仿生工程学报(英文版)

基　　金：supported in part by the National Key R&D Program under Grant 2018YFB1304504.

摘　　要：Walking is the basic locomotion pattern for bipedal robots.The walking pattern is widely generated using the linear inverted pendulum model.The linear inverted pendulum motion of each support period can be designed as a walk primitive to be connected to form a walking trajectory.A novel method of integrating double support phase into the walk primitive was proposed in this article.The method describes the generation of walking patterns using walk primitives with double support,specifically for lateral plane including walking in place,walking for lateral,and walking initiation,and for sagittal plane including fixed step length walking,variable step length walking,and walking initiation.Compared to walk primitives without double support phase,those with double support phase reduce the maximum speed required by the robot and eliminate the need to adjust foothold for achieving continuous speed.The performance of the proposed method is validated by simulations and experiments on Neubot,a position-controlled biped robot.

关 键 词：Biped robot Linear inverted pendulum Walk primitive Double support 

分 类 号：TP2[自动化与计算机技术—检测技术与自动化装置]