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
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
收藏
页码:131 / 147
页数:17
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