Bipedal robot running gait pattern generation through linear inverted pendulum model

This paper tackles the challenge of making bipedal robots run, a task that involves managing a complex movement called the flight phase. We propose a straightforward and effective method using the Linear Inverted Pendulum Model to create stable running gaits. Our approach plans a simple ascending trajectory during the support phase, which provides the necessary upward velocity to a flight phase and enabling the robot to run. This method simplifies the control needed while ensuring the robot can run realistically. Our tests show that this LIPM-based approach allows the robot to run smoothly. Our work suggests that LIPM based gait pattern generator can be a simple strategy for designing running motions in humanoid robots.