Trajectory Generation for Trotting of Quadruped Robot with Speed Change based on ZMP

Abstract

In this paper, a method for tajectory generation for trotting of a quadruped robot with speed change based on ZMP(Zero Moment Point) is proposed. For trajectory generation of the robot, ZMP of the quadruped robot is located in the middle of the two supporting leg. And, it is assumed that the quadruped robot is a single mass point. For a velocity change, the ZMP is designed to move on a contact line. The contact line makes the two supporting legs. Trajectory of body is generated based on moment equation. As a result, body trajectory of quadruped robot that satisfies the condition moving ZMP is generated. But, while the robot is walking, the unstable situation appears because the robot is aussumed as single-particle model. Impedance control was used to improve this phenomenon. When the leg touches the ground, impedace control is used to change the trajectory of the leg. So, The legs at the same time are able to touch the ground.