Running of Biped Robots with Variable Speed

Abstract

In this paper, a trajectory generation method that changes the running speed of a biped robot with appropriate selection of a foot placement is proposed. An acceleration of the center of mass of a biped robot is associated with the relative position of the zero moment point to the center of mass. It means that the acceleration of the robot can be controlled by changing a position of the zero moment point. In this paper, a biped robot changes the speed by changing the zero moment point based on the desired speed. The effectiveness in the performance of the proposed method are shown in computer simulations with a 3D biped robot.