A modified gait generator for humanoid robots based on height compensation of center of mass

This paper presents a modified gait generation method based on height compensation of center of mass (HCCOM) for biped humanoid robots. The method combines natural gait plan (NGP) and 3-D linear inverted pendulum model (3D-LIPM). By analyzing the human natural gait, the HCCOM considers the effect of swinging leg for COM height, so the hip height is no longer fixed and re-planned as a periodic movement. We divide the walk gait into four stages and indicate the process of gait generation. For the test platform, we develop IPR-I robot, through the simulation and experimental analysis, the HCCOM can effectively solve the swinging leg's effect on COM height, get stable and practical gait, reduce effect of the model inaccuracy for the 3D-LIPM.