Cylindrical Inverted Pendulum Model for Three Dimensional Bipedal Walking

Abstract

Energy efficiency of biped walking is an crucial topic for humanoid robot's research. Rapid computing is also important for online planning and model transplantation. Many dynamic models for characterizing humanoids' walking have been developed, such as conventional 3 dimensional inverted pendulum (IPM), linear inverted pendulum (LIPM). This paper proposed an improved inverted pendulum model constrained on cylindrical surface (CIPM), combining the advantages of computing and energy efficiency for humanoids' walking planning. Walking patterns with different speeds can be generated by CIPM. The constraint of cylindrical surface results in low coupling between displacement variables for tested robot and the energy consumption is less than that generated based on LIPM. The advantages of CIPM over IPM and LIPM were proved by mathematic analysis, simulations of bipedal walking with different speeds.