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2 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

1998Proceedings of the 1998 IEEE International Conference on Robotics and Automation (ICRA), vol. 2, pp. 1321-1326, DOI: 10.1109/ROBOT.1998.677262

The development of Honda humanoid robot

Kazuo Hirai, Masato Hirose, Kenichiro Nagasaka

Finding: ASIMO achieved stable walking, stair climbing, and even running, demonstrating that careful mechanical design combined with proper control can produce human-like performance.

mechanical design ASIMO