Scheduled System Maintenance on May 29th, 2015:
IEEE Xplore will be upgraded between 11:00 AM and 10:00 PM EDT. During this time there may be intermittent impact on performance. We apologize for any inconvenience.
By Topic

Reactive balance control in walking based on a bipedal linear inverted pendulum model

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Parietti, F. ; Dept. of Mech. Eng., Politec. di Milano, Milan, Italy ; Geyer, H.

Dynamic balance depends on proper foot placement in legged locomotion and corresponding placement strategies have mainly been developed using the linear inverted pendulum model as theoretical framework. While this model can identify single leg strategies for balance control, it does not consider the double support that is common to bipedal locomotion, indicating that current strategies do not fully exploit the theoretical potential of balance control in bipedal systems. Here we extend the linear inverted pendulum model to a bipedal system which includes double support dynamics, and derive a reactive balance controller based on foot placement and double stance length. We show that this controller enables the model to stand and walk at user-defined target speeds, to transition between these behaviors by acceleration and deceleration, and to react to intermittent disturbances and compensate for permanent ones, as long as they are compatible with the swing leg dynamics placing the feet. Finally, we discuss how the versatility of this balance controller depends on including double support and suggest further steps to improve dynamic balance control in bipedal systems.

Published in:

Robotics and Automation (ICRA), 2011 IEEE International Conference on

Date of Conference:

9-13 May 2011