Heel-Contact Toe-Off Walking Pattern Generator Based on the Linear Inverted Pendulum

Yukitoshi Minami Shiguematsu, Przemyslaw Kryczka, Kenji Hashimoto, Hun Ok Lim, Atsuo Takanishi

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


We propose a novel heel-contact toe-off walking pattern generator for a biped humanoid robot. It is divided in two stages: a simple model stage where a Linear Inverted Pendulum (LIP) based heel-contact toe-off walking model based on the so-called functional rockers of the foot (heel, ankle and forefoot rockers) is used to calculate step positions and timings, and the Center of Mass (CoM) trajectory taking step lengths as inputs, and a multibody dynamics model stage, where the final pattern to implement on the humanoid robot is obtained from the output of the first simple model stage. The final pattern comprises the Zero Moment Point (ZMP) reference, the joint angle references and the end effector references. The generated patterns were implemented on our robotic platform, WABIAN-2R to evaluate the generated walking patterns.

Original languageEnglish
Article number1650002
JournalInternational Journal of Humanoid Robotics
Issue number1
Publication statusPublished - 2016 Mar 1


  • Heel-contact toe-off motion
  • LIP model
  • gait pattern generation

ASJC Scopus subject areas

  • Mechanical Engineering
  • Artificial Intelligence


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