Legged robots have significant advantages over other types of mobile robots when task at hand requires the robot to overcome obstacles. This paper presents a reference trajectory generation method for a quadruped robot for pace gait on a flat surface. The approach is based on the Zero Moment Point (ZMP) stability criterion and the Linear Inverted Pendulum Model (LIPM). ZMP reference trajectories for pace is proposed, from which reference trajectories for the Robot Center of Mass (CoM) references are obtained by applying preview control. The position of leg joints are computed using inverse kinematics according to CoM reference trajectory. Proposed reference trajectory generation synthesis is tested through full-dynamics 3-D simulation. A 16-degrees-of-freedom (DOF) quadruped robot model is used in the simulations. Simulation results show the success of the reference generation technique for the pace gait.I.

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This paper presents a dynamic locomotion generation for a one-legged floating-base robot. Reference synthesis is performed by planning both swing motion of the foot and contact forces acting from the ground. A fifth-order polynomial is employed as the position reference to reduce the impact forces and ensure a steady transition between the swing and stance phases. Contact force references are designed utilizing the laws of linear and angular momentum conservation. A hybrid forcemotion control framework is created in operational space for tracking generated references. Gait phase transition is proposed to assist the transition between the force and motion controller. A full-dynamics simulation environment is utilized to test the proposed control framework. Results supported the competence of the proposed control framework for the floating-base onelegged robot.

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