single-rb.php

JRM Vol.11 No.4 pp. 304-309
doi: 10.20965/jrm.1999.p0304
(1999)

Paper:

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:
Takayuki Furuta, Hideaki Yamato, and Ken Tomiyama, “Biped Walking Using Multiple-Link Virtual Inverted Pendulum Models,” J. Robot. Mechatron., Vol.11, No.4, pp. 304-309, 1999.
Data files:

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jun. 08, 2021