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.
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