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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.
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Kajita et al. (Wed,) studied this question.
www.synapsesocial.com/papers/69fb3049714c9259a2df7da5 — DOI: https://doi.org/10.1109/iros.2001.973365
Shuuji Kajita
Fumio Kanehiro
Kenji Kaneko
National Institute of Advanced Industrial Science and Technology
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