This paper presents a trajectory generation algorithm with which a three-dimensional (3D) biped robot can perform aperiodic gaits by modifying only a small set of gait parameters. In addition to the double support phase (DSP), the gait can transit smoothly from one single support phase (SSP) to another. We decouple the sagittal and coronal dynamics, firstly. In the sagittal plane, the linear inverted pendulum model (LIPM) is used to generate the walking reference trajectory during the SSP. An extra template model, linear pendulum model (LPM), is added to describe the motion in the DSP. For the coronal plane, we only utilize the LPM for trajectory generation. Thanks to linearity properties, the proposed method can obtain the biped locomotion computationally fast without the need for numerical time-integration. Herein, we also introduce the trajectory generation algorithm for different aperiodic gaits including from standing to walking, stopping walking, as well as speed switch. A full-dynamics 3D humanoid robot is used for the tests of the developed reference trajectory through simulation. The results are promising for implementations.

本文提出了一种轨迹生成算法，通过该算法，三维 (3D) 双足机器人可以通过仅修改一小组步态参数来执行非周期性步态。除了双支撑阶段 (DSP) 之外，步态还可以从一个单支撑阶段 (SSP) 平稳过渡到另一个。首先，我们将矢状面和冠状面动力学解耦。在矢状面，线性倒立摆模型 (LIPM) 用于生成 SSP 期间的步行参考轨迹。添加了一个额外的模板模型，即线性钟摆模型 (LPM)，用于描述 DSP 中的运动。对于冠状平面，我们只使用 LPM 来生成轨迹。由于线性特性，所提出的方法可以在不需要数值时间积分的情况下快速计算双足运动。在此处，我们还介绍了不同非周期性步态的轨迹生成算法，包括从站立到行走、停止行走以及速度切换。全动态3D仿人机器人用于通过仿真对开发的参考轨迹进行测试。结果对实施很有希望。