■ Running Pattern Generation
1) 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.
i) Set Angular Momentum of COM = 0
ii) Make the perfect trajectories of Linear and angular momentum
iii) Unnatural body motion
iv) 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