Abstract
In our previous work, a walking pattern generator based on the spherical inverted pendulum model has been proposed. It enables to generate up-and-down waist motions and utilizes singularity neighborhood in the middle of each support phase. In this paper, we propose a new method to generate a walking pattern based on Spherical Inverted Pendulum with Underfloor Pivot, SIPUP, whose pivot is set under floor. As a result, ZMP has mobility during each single-leg support phase. Experimental results show the effectiveness of our approach.
