Consistent CoM Trajectory Generation for Biped Locomotion

In bipedal robot locomotion, generation of Center of Mass (CoM) trajectory forms an essential component in gait pattern generation using approximate models. Towards this, rolling sphere model as an approximate model has been widely studied for biped walk. In this work, the rolling sphere model is used to generate realizable bipedal walk by improving an existing approach. In doing so, a consistent CoM trajectory is derived with a desirable Zero Moment Point (ZMP) making the resulting gait more practical. The efficacy of the formulation has been validated through simulation using parameters of humanoid robot NAO.