Humanoid Robot Gait Planning Based on Virtual Supporting Point

Abstract

Linear Inverted Pendulum model (LIPM) is a classical theory of biped robot gait planning. However, the fixed Zero Moment Point (ZMP) of each step does not conform to the laws of human motion. In this paper, we proposed a VSP-based gait planning algorithm to make the ZMP trajectory comply the law of Heel to Toe and smooth the velocity of the center of mass (CoM). We found it remarkable that combining Virtual Supporting Point (VSP) with classical LIPM increases gait stability. The simulation and hardware experimental results on THU-Walker Platform strongly verified our algorithm.