Abstract
Researchers have implemented ZMP equations to realize biped walking. Many of them introduced a constant center of mass during walking, mainly to solve the ZMP equations analytically for center of mass trajectories in the x and y directions. In this paper, there are two walking cases shown, case 1: the center of mass height is constant and case 2: pelvis of the robot is constant. Different kinematics methods are used to realize each case. Walking simulations of 0.22km/h are utilized to make comparison between both cases. In the simulation results, case 2 consumed almost 15% less energy (electrical and mechanical) at most of the leg joints servo systems compared to case 1.
