Biped Robot Walking Using Three-Mass Linear Inverted Pendulum Model

This paper proposes a new model for biped robot walking. In this model, a biped robot is simplified to a three-link system, and each link has a point mass. The three links, which represent the trunk and two legs of the robot, are connected at the hip. When the biped robot walks on a level ground, the heights of three point masses are kept constant and the supporting ankle torque is kept zero. With some initial restrictions, the trajectories of hip and two feet can be calculated and the angle values of the biped robot's joints can be gotten. This model has been applied to an actual biped robot. The result shows that this model is suitable for practical application well.

[1]  Miomir Vukobratovic,et al.  Survey of Intelligent Control Techniques for Humanoid Robots , 2003, J. Intell. Robotic Syst..

[2]  Jun Morimoto,et al.  Learning Biped Locomotion , 2007, IEEE Robotics & Automation Magazine.

[3]  Meng Joo Er,et al.  Humanoid 3D Gait Generation Based on Inverted Pendulum Model , 2007, 2007 IEEE 22nd International Symposium on Intelligent Control.

[4]  Kazuhito Yokoi,et al.  The 3D linear inverted pendulum mode: a simple modeling for a biped walking pattern generation , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[5]  Jong H. Park,et al.  Biped robot walking using gravity-compensated inverted pendulum mode and computed torque control , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[6]  Kazuhito Yokoi,et al.  Biped walking pattern generation by a simple three-dimensional inverted pendulum model , 2003, Adv. Robotics.

[7]  Meng Joo Er,et al.  Humanoid Robotics Modeling by Dynamic Fuzzy Neural Network , 2007, 2007 International Joint Conference on Neural Networks.

[8]  Ludovic Righetti,et al.  Programmable central pattern generators: an application to biped locomotion control , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[9]  Jerry E. Pratt,et al.  Virtual model control of a bipedal walking robot , 1997, Proceedings of International Conference on Robotics and Automation.

[10]  Kazuhito Yokoi,et al.  A realtime pattern generator for biped walking , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[11]  Tad McGeer,et al.  Passive Dynamic Walking , 1990, Int. J. Robotics Res..

[12]  K. Ohnishi,et al.  Trajectory Planning of Biped Robot Using Linear Pendulum Mode for Double Support Phase , 2006, IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics.