Online Running-Gait Generation for Bipedal Robots with Smooth State Switching and Accurate Speed Tracking

Smooth state switching and accurate speed tracking are important for the stability and reactivity of bipedal robots when running. However, previous studies have rarely been able to synthesize these two capabilities online. In this paper, we present an online running-gait generator for bipedal robots that allows for smooth state switching and accurate speed tracking. Considering a fluctuating height nature and computational expediency, the robot is represented by a simplified variable-height inverted-pendulum (VHIP) model. In order to achieve smooth state switching at the beginning and end of running, a segmented zero moment point (ZMP) trajectory optimization is proposed to automatically provide a feasible and smooth center-of-mass (CoM) trajectory that enables the robot to stably start or stop running at the given speed. To accurately track online the desired speed during running, we propose an iterative algorithm to compute target footholds, which allows for the robot to follow the interactive desired speed after the next two steps. Lastly, a numerical experiment and the simulation of online variable speed running were performed with position-controlled bipedal robot BHR7P, and the results verified the effectiveness of the proposed methods.