An Enhanced Walking Pattern Generator with Variable Height for Robot Locomotion

In this paper, we introduce a novel walking pattern generator that builds on the divergent component of motion (DCM) techniques for biped robots. The aim is to provide an efficient algorithm for generating robot footstep position while walking. We build a new biped robot Forrest. For this robot, but also applicable for any biped robot, we developed a new gait pattern generator. Our approach involves utilizing segmented zero moment point (ZMP) curves within each step to generate a smoother desired trajectory. By this way we overcome the issue of abrupt acceleration changes experienced when using traditional walking pattern generators with a constant ZMP. Additionally, our generator employs a 3-D divergent component of motion (DCM) curve to plan for variable heights in the center of mass (CoM) trajectory, which is crucial for achieving a walking pattern that resembles human walking. We introduce this new gait generator and show first result on our biped robot.