Three-Dimensional Dynamic Running with a Point-Foot Biped based on Differentially Flat SLIP
Zejun Hong,Hua Chen,Wei Zhang,Zejun Hong,Hua Chen,Wei Zhang
This paper presents a novel framework for point- foot biped running in three-dimensional space. The proposed approach generates center of mass (CoM) reference trajectories based on a differentially flat spring-loaded inverted pendulum (SLIP) model. A foothold planner is used to select touch down location that renders optimal CoM trajectory for upcoming step in real time. Dynamically feasible traje...
