Biped walking pattern generation by a simple three-dimensional inverted pendulum model
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kazuhito Yokoi, Hirohisa Hirukawa
- Year
- 2003
- Citations
- 176
Abstract
Abstract For three-dimensional (3D) walking control of a biped robot we analyze the dynamics of a 3D inverted pendulum in which motion is constrained to move along an arbitrarily defined plane. This analysis leads us to a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM). The geometric nature of the trajectories under the 3D-LIPM and a method for walking pattern generation are discussed. A simulation result of a walking control using a 12-d.o.f. biped robot model is also shown. Keywords: BIPED ROBOTWALKING ROBOTDYNAMIC WALKBIPED LOCOMOTIONINVERTED PENDULUM
Keywords
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