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
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;
Conference_Titel :
Intelligent Robots and Systems, 2001. Proceedings. 2001 IEEE/RSJ International Conference on
Conference_Location :
Maui, HI
Print_ISBN :
0-7803-6612-3
DOI :
10.1109/IROS.2001.973365
