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ICRA
2002
IEEE

A Realtime Pattern Generator for Biped Walking

9 years 4 months ago
A Realtime Pattern Generator for Biped Walking
For realtime walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM). Geometric nature of trajectories under the 3D-LIPM is discussed, and an algorithm for walking pattern generation is presented. Experimental results of realtime walking control of a 12 d.o.f. biped robot HRP-2L using an input device such as a game pad are also shown.
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyos
Added 15 Jul 2010
Updated 15 Jul 2010
Type Conference
Year 2002
Where ICRA
Authors Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kazuhito Yokoi, Hirohisa Hirukawa
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