ZMP reference trajectory generation for biped robot with inverted pendulum model by using virtual supporting point

Tomoyuki Suzuki, Toshiaki Tsuji, Maki Shibuya, Kouhei Ohnishi

Research output: Contribution to journalArticle

8 Citations (Scopus)


Motion planning of a biped robot based on ZMP is quite popular in recent years. In this method, ZMP reference trajectory is planned at first so that ZMP stays inside of the support polygon. Then, walking pattern is generated based on the trajectory. Conventional methods based on ZMP reference trajectory did not take the dynamics of bipedal locomotion into account. Therefore, the basis of the motion planning was ambiguous and the biped robot did not get human-like walking. This paper proposes ZMP reference trajectory generation with inverted pendulum model by using VSP (Virtual Supporting Point). With this, smooth ZMP reference trajectory based on the dynamics of the inverted pendulum is generated uniquely according to the desired stride and walking cycle.

Original languageEnglish
Pages (from-to)687-693+1
Journalieej transactions on industry applications
Issue number6
Publication statusPublished - 2008 Dec 1



  • Biped robot
  • Inverted pendulum model
  • VSP (Virtual Supporting Point)
  • Walking
  • ZMP (zero moment point)

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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