IROS 2001 PROCEEDINGS OF THE 2001 IEEE/RJS INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4 EXPANDING THE SOCIETAL ROLE OF ROBOTICS IN THE NEXT MILLENNIUM（2001）
Natl Lab High Energy Phys
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摘要
For 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 yields a simple linear dynamics, the 3D 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-DOF biped robot model is also shown.
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关键词
legged locomotion,linear systems,nonlinear control systems,pendulums,robot dynamics,12-DOF biped robot model,3D linear inverted pendulum dynamics,3D walking control,3D-LIPM,biped walking pattern generation,linear dynamics
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