Biped Walking Using Multiple-Link Virtual Inverted Pendulum Models

Takayuki Furuta; Hideaki Yamato; Ken Tomiyama

doi:10.20965/jrm.1999.p0304

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JRM Vol.11 No.4 pp. 304-309

doi: 10.20965/jrm.1999.p0304

(1999)

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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, 1999

Accepted:

June 4, 1999

Published:

August 20, 1999

Keywords:

biped walk, locomotion, humanoid

Abstract

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.

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