Gait synthesis for a 12-degree-of-freedom biped robot by the LIPM

This work presents the use of the Linear Inverted Pendulum Mode (LIPM) concept and the Inverse Geometrical Model (IGM) of a biped robot for generating a gait cycle with some particular characteristics. This work is different from the original procedure described in the literature, since here, the orbital energy is considered as being constant during the locomotion. LIPM is employed for obtaining the motion of the Center of Mass (CoM) with respect to the feet while a cycloidal trajectory is used for synthesizing the motion of the free foot during simple support phase. Joint motions are obtained by IGM.