Adapting simulated behaviors for new characters
Proceedings of the 24th annual conference on Computer graphics and interactive techniques
Biped Locomotion
Dynamically Simulated Characters in Virtual Environments
IEEE Computer Graphics and Applications
Analytic Path Planning Algorithms for Bipedal Robots without a Trunk
Journal of Intelligent and Robotic Systems
Fuzzy-logic zero-moment-point trajectory generation for reduced trunk motions of biped robots
Fuzzy Sets and Systems - Special issue: Fuzzy set techniques for intelligent robotic systems
Survey of Intelligent Control Techniques for Humanoid Robots
Journal of Intelligent and Robotic Systems
A compliant contact model with nonlinear damping for simulation of robotic systems
IEEE Transactions on Systems, Man, and Cybernetics, Part A: Systems and Humans
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This paper presents the virtual height inverted pendulum mode (VHIPM), which is a simple and effective trajectory generation method for the stable walking of biped robots. VHIPM, which is based on the inverted pendulum mode (IPM), can significantly reduce the zero moment point (ZMP) error by adjusting the height in the inverted pendulum. We show the relationship between VHIPM and other popular trajectory generation methods, and compare the ZMP errors in walking when trajectories are generated by various methods including VHIPM. We also investigate the sensitivity of the ZMP error in VHIPM to the step length, walking period and mass distribution of a robot. The simulation results show that VHIPM significantly reduces the ZMP errors compared to other methods under various circumstances.