Speed Translation for Walking Biped Robots using LIPM

LIPM 을 이용한 이족 로봇의 보행 속도 변화

When biped robots speed up to run and reduce speed to walk after running, it needs stable speed translation. This paper proposed simple speed translation using the modified LIPM (Linear Inverted Pendulum Mode). We can change stride and period time of a biped robot in some bounded sets with this propose algorithm. This method is simple and effective in simulation.