DocumentCode
2049191
Title
The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation
Author
Kajita, Shuuji ; Kanehiro, Fumio ; KANEKO, Kenji ; YOKOI, Kazuhito ; Hirukawa, Hirohisa
Author_Institution
Nat. Inst. of Adv. Ind. Sci. & Technol., Tsukuba, Japan
Volume
1
fYear
2001
fDate
2001
Firstpage
239
Abstract
For 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 yields a simple linear dynamics, the 3D linear inverted pendulum mode (3D-LIPM). Geometric nature of trajectories under the 3D-LIPM and a method for walking pattern generation are discussed. A simulation result of a walking control using a 12-DOF biped robot model is also shown
Keywords
legged locomotion; linear systems; nonlinear control systems; pendulums; robot dynamics; 12-DOF biped robot model; 3D linear inverted pendulum dynamics; 3D walking control; 3D-LIPM; biped walking pattern generation; linear dynamics; Electronic mail; Equations; Humanoid robots; Industrial control; Jacobian matrices; Leg; Legged locomotion; Motion control; Robot kinematics; Service robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location
Maui, HI
Print_ISBN
0-7803-6612-3
Type
conf
DOI
10.1109/IROS.2001.973365
Filename
973365
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