Biped walking pattern generation by a simple three-dimensional inverted pendulum model

被引：141

作者：

Kajita, S ^{[1
]}

Kanehiro, F ^{[1
]}

Kaneko, K ^{[1
]}

Fujiwara, K ^{[1
]}

Yokoi, K ^{[1
]}

Hirukawa, H ^{[1
]}

机构：

[1] Natl Inst Adv Ind Sci & Technol, Tsukuba, Ibaraki 305, Japan

来源：

ADVANCED ROBOTICS | 2003年 / 17卷 / 02期

关键词：

biped robot; walking robot; dynamic walk; biped locomotion; inverted pendulum;

D O I：

10.1163/156855303321165097

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

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.

引用

页码：131 / 147

页数：17

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