Real-time 3D Walking Pattern Generation for a Biped Robot with Telescopic Legs
نویسندگان
چکیده
Meltran V, a new biped robot with telescopic legs, is introduced. For 3D walking control of the robot we analyze the dynamics of a three-dimensional inverted pendulum in which motion is constrained to move along an arbitrarily de ned plane. From this analysis we obtain simple linear dynamics, the ThreeDimensional Linear Inverted Pendulum Mode (3DLIPM). Using a real-time control method based on 3DLIPM, the Meltran V robot successfully demonstrated 3D dynamic walking without the use of any prepared trajectories.
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