Real-time 3D walking pattern generation for a biped robot with telescopic legs

S. Kajita*, O. Matsumoto, M. Saigo

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

186 Citations (Scopus)

Abstract

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 defined plane. From this analysis we obtain simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM). Using a real-time control method based on 3D-LIPM, the Meltran V robot successfully demonstrated 3D dynamic walking without the use of any prepared trajectories.

Original languageEnglish
Pages (from-to)2299-2306
Number of pages8
JournalProceedings - IEEE International Conference on Robotics and Automation
Volume3
Publication statusPublished - 2001
Externally publishedYes
Event2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of
Duration: 2001 May 212001 May 26

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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