A‘ZMP’ management scheme for trajectory control of biped robots using a three mass model

Development of simple computational schemes to manage zmp to force biped robots into dynamic walking has been an important area. In this paper, a straightforward computational technique to map the body trajectories of a biped, to achieve dynamic walking is suggested. While such works for one mass representation has been reported earlier, here, a three mass representation of a biped robot is considered. Using the swinging leg mass as the prescribed motion, compensatory motion of the hip is computed. Easily manageable and computationally viable technique to implement such a scheme is described. Such technique is applied to an example and the body trajectory and the resulting ‘zmp’ are presented.