The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation

@article{Kajita2001The3L,
  title={The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation},
  author={Shuuji Kajita and Fumio Kanehiro and Kenji Kaneko and Kazuhito Yokoi and Hirohisa Hirukawa},
  journal={Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)},
  year={2001},
  volume={1},
  pages={239-246 vol.1}
}
  • S. Kajita, F. Kanehiro, H. Hirukawa
  • Published 29 October 2001
  • Engineering
  • Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)
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. [] Key Method 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.

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