A realtime pattern generator for biped walking
- 25 June 2003
- conference paper
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 1, 31-37 vol.1
- https://doi.org/10.1109/robot.2002.1013335
Abstract
For real-time 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 real-time walking control of a 12-DOF biped robot HRP-2L using an input device such as a game pad are also shown.Keywords
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