抄録
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.
| 本文言語 | English |
|---|---|
| ページ（範囲） | 2299-2306 |
| ページ数 | 8 |
| ジャーナル | Proceedings - IEEE International Conference on Robotics and Automation |
| 巻 | 3 |
| 出版ステータス | Published - 2001 |
| 外部発表 | はい |
| イベント | 2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of 継続期間: 2001 5月 21 → 2001 5月 26 |
ASJC Scopus subject areas
- ソフトウェア
- 制御およびシステム工学
- 人工知能
- 電子工学および電気工学