AbstractThis paper presents a parameterized gait generator based on linear inverted
pendulum model (LIPM) theory, which allows users to generate a natural gait
pattern with desired step sizes. Five types of zero moment point (ZMP)
components are proposed for formulating a natural ZMP reference, where ZMP moves
continuously during single support phases instead of staying at a fixed point in
the sagittal and lateral plane. The corresponding center of mass (CoM)
trajectories for these components are derived by LIPM theory. To generate a
parameterized gait pattern with user-defined parameters, a gait planning
algorithm is proposed, which determines related coefficients and boundary
conditions of the CoM trajectory for each step. The proposed parameterized gait
generator also provides a concept for users to generate gait patterns with
self-defined ZMP references by using different components. Finally, the
feasibility of the proposed method is validated by the experimental results with
a teen-sized humanoid robot, David, which won first place in the sprint event at
the 20th Federation of International Robot-soccer Association (FIRA) RoboWorld
Cup.