Efficient Footstep Planning for Biped Robot based on Fixed-Length-Leg Model

An efficient footstep planning scheme based on inverted pendulum model for biped robots to recover balance is presented in this paper. The length of the step taken to keep balance is estimated based on the Fixed-Length-Leg stepping model considering the change in kinetic and potential energies resulting from external disturbances. The maximum value of step length is calculated based on the maximum impact obtained by simulations to enhance the stability of robot during the stepping process. And finally, a series of simulations are conducted on a 10-DOF biped robot and results are provided to validate the proposed control scheme.