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


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

April 7, 1999
June 4, 1999
August 20, 1999
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.
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