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

In this paper, we take advantage of the Flexible LIP model that has shown to be more realistic w.r.t. the LIP for cost-eective or compliant biped robots for gait generation. We can use a stable inversion approach to obtain bounded Center of Mass (CoM) reference trajectories and show several advantages compared to preview control: avoidance of integration, lower computation time, exact tracking of reference Zero Moment Point (ZMP) trajectories and Capture Point determination.