Abstract: In order to achieve human-like biped walking, a walking pattern generator with natural Zero Moment Point（ZMP） reference trajectory for biped robot is proposed. In the single support phase, after given the natural ZMP reference trajectory moved forward from the heel to the toe, the trajectory equations of Center of Mass（CoM） can be obtained based on the 3D Linear Inverted Pendulum Model（LIPM）. In the double support phase, the trajectory equations of CoM can be represented using Linear Pendulum Mode（LPM）. Also the trajectory equations of CoM based on multi-step gait planning are given in a unified coordinate system. A human-like stable walking based on natural ZMP trajectory is achieved in Robocup 3D simulation platform for biped robot. The results of RoboCup 3D simulation and competition verify the effectiveness of the method.

Key words: natural ZMP trajectory, biped robot, gait planning, Linear Inverted Pendulum Model（LIPM）, Linear Pendulum Mode（LPM）

摘要： 为了实现双足机器人类人行走，提出了一种基于自然ZMP轨迹的双足机器人步行模式生成方法。在单腿支撑相，根据基于三维线性倒立摆模型，在设定从脚跟到脚趾移动的自然ZMP轨迹后，得到质心轨迹方程；在双腿支撑相采用线性摆模型生成质心轨迹方程。同时给出了在统一坐标系中的多步规划质心轨迹方程。在RoboCup 3D仿真平台实现了采用自然ZMP轨迹的双足机器人类人稳定步行，实验和竞赛结果都验证了该方法的有效性。

关键词: 自然ZMP轨迹, 双足机器人, 步态规划, 线性倒立摆模型, 线性摆模型