Body trajectory planning of biped robot based on ZMP

Tomoya Sato, Tomoyuki Suzuki, Maki Shibuya, Kouhei Ohnishi

Research output: Contribution to journalArticlepeer-review

4 Citations (Scopus)


In this paper, a body trajectory planning method of a biped robot based on ZMP (zero-moment point) is proposed. In the proposed method, the body of the biped robot is maintained at a constant height during walking. By this body trajectory, the biped robot walks stably without moving up and down the body height. Higher energy efficiency can be achieved by the proposed method than the conventional method that maintains a constant COG (center of gravity) height, since the biped robot walks with a higher body position and with less torque of joints. Additionally the validity of the proposed method was confirmed by experiments of walking.

Original languageEnglish
Pages (from-to)738-747+10
Journalieej transactions on industry applications
Issue number7
Publication statusPublished - 2009
Externally publishedYes


  • Biped robot
  • Body trajectory
  • Double support phase
  • Single support phase
  • Trajectory planning
  • ZMP

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering


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