Abstract
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.
| Original language | English |
|---|---|
| Pages (from-to) | 2299-2306 |
| Number of pages | 8 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| Publication status | Published - 2001 |
| Externally published | Yes |
| Event | 2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of Duration: 2001 May 21 → 2001 May 26 |
ASJC Scopus subject areas
- Software
- Control and Systems Engineering
- Artificial Intelligence
- Electrical and Electronic Engineering