Referenced Items are not available for this document.
Meltran V, a new biped robot with telescopic legs, is introduced. For 3D walking control of the robot we analyze the dynamics of a three-dimensional inverted pendulum in which motion is constrained to move along an arbitrarily defined plane. From this analysis we obtain simple linear dynamics, the three-dimensional linear inverted pendulum mode (3D-LIPM). Using a real-time control method based on 3D-LIPM, the Meltran V robot successfully demonstrated 3D dynamic walking without the use of any prepared trajectories.
Published in:
Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on
(Volume:3
)
Date of Conference: 2001
- Page(s):
- 2299 - 2306 vol.3
- ISSN :
- 1050-4729
- Print ISBN:
- 0-7803-6576-3
- INSPEC Accession Number:
- 7012131
- Digital Object Identifier :
- 10.1109/ROBOT.2001.932965
- Product Type:
- Conference Publications
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