Real-time 3D walking pattern generation for a biped robot with telescopic legs
Top Cited Papers
- 13 November 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3 (10504729) , 2299-2306
- https://doi.org/10.1109/robot.2001.932965
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.Keywords
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