Boundedness approach to gait planning for the flexible linear inverted pendulum model

Leonardo Lanari, Oliver Urbann, Seth Hutchinson, Ingmar Schwarz

Research output: Chapter in Book/Report/Conference proceedingConference contribution


In this paper, we solve the gait planning problem by using the Flexible LIP model, which has been shown to be more realistic w.r.t. the LIP for cost-effective or compliant biped robots for gait generation. We extend a stable inversion approach to obtain bounded Center of Mass (CoM) reference trajectories and show several advantages compared to preview control: avoidance of numerical integration, lower computation time, exact tracking of reference Zero Moment Point (ZMP) trajectories, and the ability to come to an immediate stop.

Original languageEnglish (US)
Title of host publicationRoboCup 2016
Subtitle of host publicationRobot World Cup XX
EditorsRaymond Sheh, Daniel D. Lee, Sven Behnke, Sanem Sariel
Number of pages13
ISBN (Print)9783319687919
StatePublished - 2017
Event20th Annual RoboCup International Symposium, 2016 - Leipzig, Germany
Duration: Jun 30 2016Jul 4 2016

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume9776 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Other20th Annual RoboCup International Symposium, 2016


  • Boundedness
  • LIPM
  • Preview control
  • Stable inversion

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)


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