The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation
نویسندگان
چکیده
For 3D walking control of a biped robot we analyze the dynamics of a three-dimensional inverted pendulum in which motion i s constrained to move along an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (SD-LIPM). Geometric nature of trajectories under the 3D-LIPM and a method for walking pattern genemtion are discussed. A simulation result of a walking control using a 12 d.0.f. biped robot model is also shown.
منابع مشابه
A Realtime Pattern Generator for Biped Walking
For realtime 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 genera...
متن کاملReal-time 3D Walking Pattern Generation for a Biped Robot with Telescopic Legs
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 ...
متن کاملBiped Robot Walking Using Gravity-Compensated Inverted Pendulum Mode and Computed Torque Control
This paper proposes a model called the gravitycompensated inverted pendulum mode (G CIPM) to generate a biped locomotion pattern that is similar to the one generated by the linear inverted pendulum mode, but accommodates the free leg dynamics based upon its predetermined trajectory. When the biped locomotion based upon the linear inverted pendulum mode is applied to real biped robots, the stabi...
متن کاملEnergy Dissipation Rate Control Via a Semi-Analytical Pattern Generation Approach for Planar Three-Legged Galloping Robot based on the Property of Passive Dynamic Walking
In this paper an Energy Dissipation Rate Control (EDRC) method is introduced, which could provide stable walking or running gaits for legged robots. This method is realized by developing a semi-analytical pattern generation approach for a robot during each Single Support Phase (SSP). As yet, several control methods based on passive dynamic walking have been proposed by researchers to provide an...
متن کاملA Reactive and Efficient Walking Pattern Generator for Robust Bipedal Locomotion
Available possibilities to prevent a biped robot from falling down in the presence of severe disturbances are mainly Center of Pressure (CoP) modulation, step location and timing adjustment, and angular momentum regulation. In this paper, we aim at designing a walking pattern generator which employs an optimal combination of these tools to generate robust gaits. In this approach, first, the nex...
متن کامل