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 generation is presented. Experimental results of realtime walking control of a 12 d.o.f. biped robot HRP-2L using an input device such as a game pad are also shown.

• Type: Conference
• Year: 2002
• Where: ICRA
• Authors: Shuuji Kajita, Fumio Kanehiro, Kenji Kaneko, Kiyoshi Fujiwara, Kazuhito Yokoi, Hirohisa Hirukawa
• Keywords: ICRA 2002, Inverted Pendulum, Realtime Walking Control, Robotics, Three-dimensional Inverted Pendulum