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Biped Walking Using Multiple-Link Virtual Inverted Pendulum Models
Takayuki Furuta, Hideaki Yamato and Ken Tomiyama
Aoyama Gakuin University, 16-1 Chitosedai 6-chome, Setagaya-ku Tokyo, 157-8852, Japan
Received:April 7, 1999Accepted:June 4, 1999Published:August 20, 1999
Keywords:biped walk, locomotion, humanoid
The purpose of this study is to realize 3D biped walking in a humanoid robot. A robot that has 12 degrees of freedom with 2 legs was designed and constructed as an experimental platform. Model reference walking control with a virtual inverted pendulum model is proposed, implemented on the robot to realize stable walking.
Cite this article as:T. Furuta, H. Yamato, and K. Tomiyama, “Biped Walking Using Multiple-Link Virtual Inverted Pendulum Models,” J. Robot. Mechatron., Vol.11 No.4, pp. 304-309, 1999.Data files:
Copyright© 1999 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.