A novel approach has been proposed to generate the gait pattern of the humanoid robot with use of orbital energy concept. As the bipedal robots can be modeled as Linear Inverted Pendulum Model (LIPM) and rolling sphere model, the detailed discussion is presented here to generate stable walking pattern with help of this model. The intensive uses and advantages of the orbital energy concept have also been presented compared to different traditional approach of walking pattern generation. In this context, a novel algorithm has been proposed to generate 3D walking pattern of the bipedal robots, and how the 3D walking pattern can be approximated as the 2D walking pattern. All the analytical results are provided and verified with NaO robot (Biped robot).

中文翻译：

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使用轨道能量生成人形步态模式

已经提出了一种利用轨道能量概念生成仿人机器人步态模式的新方法。由于双足机器人可以建模为线性倒立摆模型 (LIPM) 和滚动球模型，因此这里将详细讨论借助该模型生成稳定的行走模式。与不同的传统步行模式生成方法相比，还展示了轨道能量概念的密集使用和优势。在这种情况下，提出了一种新的算法来生成双足机器人的 3D 步行模式，以及如何将 3D 步行模式近似为 2D 步行模式。所有分析结果均由 NaO 机器人（双足机器人）提供和验证。