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
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.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.
Copyright© 1999 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.