# 3D biped locomotion control including seamless transition between walking and running via 3D ZMP manipulation

Tomomichi Sugihara, Kenta Imanishi, Takanobu Yamamoto and Stéphane Caron. IEEE International Conference on Robotics and Automation, May 2021.

## Abstract¶

A novel control scheme for biped robots to manipulate the ZMP three-dimensionally apart from the actual ground profile is presented. It is shown that the linear inverted-pendulum-like dynamics with this scheme can represent a wider class of movements including variation of the body height. Moreover, this can also represent the motion in aerial phase. Based on this, the foot-guided controller proposed by the authors is enhanced to enable the robots to locomote on highly uneven terrains and also to seamlessly transition between walking and running without pre-planning the overall motion reference. The controller guarantees the capturability at landing and defines the motion by a time-variant state feedback, which is analytically derived from a model predictive optimization. It is verified through some computer simulations.

## BibTeX¶

@inproceedings{sugihara2021icra,
title = {3D biped locomotion control including seamless transition between walking and running via 3D ZMP manipulation},
author = {Sugihara, Tomomichi and Imanishi, Kenta and Yamamoto, Takanobu and Caron, St{\'e}phane},
booktitle = {IEEE International Conference on Robotics and Automation},
pages = {6258--6263},
year = {2021},
month = may,
organization = {IEEE},
doi = {10.1109/ICRA48506.2021.9561503},
}

## Discussion ¶

You can use Markdown with $\LaTeX$ formulas in your comment.