Papers › The 3D Linear Inverted Pendulum Mode : A simple modeling for a biped walking pattern generation
The 3D Linear Inverted Pendulum Mode : A simple modeling for a biped walking pattern generation
Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kazuhito Yokoiand, Hirohisa Hirukawa
For 3D walking control of a biped robot we analyse the dynamics of a three dimensional inverted pendulum in which motion is constrained to move along 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 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.
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