Biped Walking Pattern Generation by Using Preview Control Based on Three-Mass Model

Biped walking robots have been widely researched because biped walking is considered as an effective way to loco-mote in human environments. There are a lot of ways to generate biped walking patterns, and it is widely known that the model certainty of the robot and the immediate generation of the trajectory are very important. Using preview control is a useful way to generate the walking patterns. By using the preview control method, modeling errors, which are generated by using a simple model, can be compensated by using the preview controller again in the conventional approaches. As a matter of fact, it is known that it takes much time to generate the trajectory by using the preview controller again. In this paper, biped walking pattern generation by using preview control based on a three-mass model is proposed. By using the proposed method, the modeling errors can be decreased without using the preview controller again, which means that the immediate generation of the trajectory can be achieved. The validity of the proposed method is confirmed by numerical examples and experimental results.