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1 papers

2001Proceedings of the 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 1, pp. 239-246, DOI: 10.1109/IROS.2001.973315

The 3D Linear Inverted Pendulum Mode: A simple modeling for a biped walking pattern generation

Shuuji Kajita, Kazuya Yokoi, Kenji Kaneko, Hirohisa Hirakawa, Fumio Kanehiro

Finding: The LIPM model was shown to predict walking motion well for biped robots, and controllers based on it provide stable locomotion.

biped walking inverted pendulum