Study of a Gait Pattern Generator with Kick Motion

Abstract

We study on a gait pattern generator with kick motion to perform walk-kick. The developed gait pattern generator calculates the trajectory of the center of gravity (COG) by using preview control. It can calculate the trajectory of COG such that the target ZMP is always near the center of the supporting foot, including when performing the kicking motion. As a result, it is possible to flexibly change the ground contact position and timing of the foot, so that it is possible to perform a kick motion at the swing leg. In this paper, after describing the developed walking pattern generator, we verify its effectiveness by experiment using a real humanoid robot.