{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/the-3d-linear-inverted-pendulum-mode-a-simple","title":"The 3D Linear Inverted Pendulum Mode : A simple modeling for a biped walking pattern generation","arxiv_id":null,"date":"2001-11-03","proceeding":"International Conference on Intelligent Robots and Systems 2001 11","authors":["Shuuji Kajita","Fumio Kanehiro","Kenji Kaneko","Kazuhito Yokoiand","Hirohisa Hirukawa"],"abstract":"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\u0005 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 \b12 d.o.f. biped robot model is also shown.","url_abs":"http://users.dimi.uniud.it/~antonio.dangelo/Robotica/dissertations/helper/3D_Linear_Inverted_Pendulum_Model.pdf","url_pdf":"http://users.dimi.uniud.it/~antonio.dangelo/Robotica/dissertations/helper/3D_Linear_Inverted_Pendulum_Model.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"the-3d-linear-inverted-pendulum-mode-a-simple","repo_url":"https://github.com/Raghav-Soni/Inverted-Pendulum-Model-Trajectory-For-Biped","is_official":0,"mentioned_in_paper":0,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}