Advanced Robotics · 2003 · 176 citations · 15 references
EngineeringMechanical EngineeringRobotics EngineeringRobot ControlRobot DynamicsRoboticsBipedal LocomotionGait GenerationHumanoid Robot DynamicsLegged Robot ControlLegged RoboticsTrajectory DynamicsBipedal Locomotion DynamicsGait DynamicsGait Pattern GenerationLocomotion DynamicsMotion Pattern GenerationRobot SimulationWalking Pattern GenerationWalking Pattern Synthesis
Abstract 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. Keywords: BIPED ROBOTWALKING ROBOTDYNAMIC WALKBIPED LOCOMOTIONINVERTED PENDULUM
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Marc H. Raibert, Ernest R. Tello · IEEE Expert · 1986 · 2.7K citations
The development of Honda humanoid robot
Kazuo Hirai, Masato Hirose, Y. Haikawa et al. · 2002 · 1.9K citations