Proceedings ArticleDOI
The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation
Shuuji Kajita,Fumio Kanehiro,Kenji Kaneko,Kazuhito Yokoi,Hirohisa Hirukawa +4 more
- Vol. 1, pp 239-246
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TLDR
Geometric nature of trajectories under the 3D-LIPM and a method for walking pattern generation are discussed, and a simulation result of a walking control using a 12-DOF biped robot model is shown.Abstract:
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.read more
Citations
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Proceedings ArticleDOI
Capture Point: A Step toward Humanoid Push Recovery
TL;DR: The well-known linear inverted pendulum model is extended to include a flywheel body and it is shown how to compute exact solutions of the capture region for this model, the region on the ground where a humanoid must step to in order to come to a complete stop.
Book
Feedback Control of Dynamic Bipedal Robot Locomotion
TL;DR: In this article, the authors present a comprehensive and mathematically sound treatment of feedback design for achieving stable, agile, and efficient locomotion in bipedal robots, including modeling walking and running gaits in planar robots.
Proceedings ArticleDOI
Resolved momentum control: humanoid motion planning based on the linear and angular momentum
Shuuji Kajita,Fumio Kanehiro,Kenji Kaneko,Kiyoshi Fujiwara,Kensuke Harada,Kazuhito Yokoi,Hirohisa Hirukawa +6 more
TL;DR: A method to generate whole body motion of a humanoid robot such that the resulted total linear/angular momenta become specified values gives a unified framework to generate various maneuvers of humanoid robots.
Journal ArticleDOI
Capturability-based analysis and control of legged locomotion, Part 1: Theory and application to three simple gait models
TL;DR: This two-part paper discusses the analysis and control of legged locomotion in terms of N-step capturability: the ability of a legged system to come to a stop without falling by taking N or fewer steps, and introduces a theoretical framework for assessing N- stepCapturability.
Capturability-Based Analysis and Control of Legged Locomotion
TL;DR: In this article, the authors discuss the analysis and control of legged locomotion in terms of N-step capturability: the ability of a legged system to come to a stop without falling by taking N or fewer steps.
References
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Proceedings ArticleDOI
The development of Honda humanoid robot
TL;DR: Due to its unique posture stability control, the Honda humanoid robot is able to maintain its balance despite unexpected complications such as uneven ground surfaces and to perform simple operations via wireless teleoperation.
Journal ArticleDOI
Dynamic Walk of a Biped
Hirofumi Miura,Isao Shimoyama +1 more
TL;DR: In this article, the authors have developed five kinds of biped locomotive robots, named BIPER-1, 2, 3, 4, and 5, which are all statically unstable but can perform a dynamically stable walk with suitable control.
Proceedings ArticleDOI
Development of a bipedal humanoid robot-control method of whole body cooperative dynamic biped walking
TL;DR: A basic control method of whole body cooperative dynamic biped walking that uses trunk or trunk-waist cooperative motion to compensate for three-axis moment generated not only by the motion of the lower-limbs planned arbitrarily but by the time trajectory of the hands planned arbitrarily is proposed.
Proceedings ArticleDOI
Virtual model control of a bipedal walking robot
TL;DR: A control scheme called virtual model control, a motion control language that uses simulations of imagined mechanical components to create forces, which are applied through real joint torques, thereby creating the illusion that the virtual components are connected to the robot.
Journal ArticleDOI
Sensor-based control of a nine-link biped
Junji Furusho,Akihito Sano +1 more
TL;DR: A method to control walking by divid ing it into motions in the sagittal plane and in the lateral plane and treated motion in theateral plane as a regulator prob lem with two equilibrium states to realize smooth 3D biped walking in a robot.