- Running Pattern Generation1) Problem of Resolved Momentum Control
– Hopping and Running have a flight phase.
– Biped can rotate itself during a flight phase.
– Rotation can make unstable landing.
- Set Angular Momentum of COM = 0
- Make the perfect trajectories of Linear and angular momentum
- Unnatural body motion
- It is impossible to find the perfect trajectories.
– Therefore, it is necessary to find new pattern generation method
2)Forward Pattern Generation in the Sagittal Plane
3)Y-directional Pattern Generation in the Frontal Plane
4)Yaw-axis Pattern Generation in the horizontal plane
– Yaw axis angular momentum is caused by a x-directional foot motion.
– Yaw axis angular momentum can be eliminated by a trunk motion.
– A system could be simplified.
5)Real Time Control Structure