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International Conference on Intelligent Robotics and Applications

ICIRA 2008: Intelligent Robotics and Applications pp 371–380Cite as

Biped Robot Walking Using Three-Mass Linear Inverted Pendulum Model

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Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 5314))

Abstract

This paper proposes a new model for biped robot walking. In this model, a biped robot is simplified to a three-link system, and each link has a point mass. The three links, which represent the trunk and two legs of the robot, are connected at the hip. When the biped robot walks on a level ground, the heights of three point masses are kept constant and the supporting ankle torque is kept zero. With some initial restrictions, the trajectories of hip and two feet can be calculated and the angle values of the biped robot’s joints can be gotten. This model has been applied to an actual biped robot. The result shows that this model is suitable for practical application well.

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Author information

Authors and Affiliations

  1. State Key Laboratory on Intelligent Technology and Systems, Tsinghua National Laboratory for Information Science and Technology, Department of Computer Science and Technology, Tsinghua University, 100084, Beijing, China

    Shuai Feng & Zengqi Sun

Authors
  1. Shuai Feng
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  2. Zengqi Sun
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Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, 430074, Wuhan, China

    Caihua Xiong , Yongan Huang  & Youlun Xiong ,  & 

  2. Institute of Industrial Research, University of Portsmouth, Burnaby Building, PO1 3QL, Portsmouth, UK

    Honghai Liu

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© 2008 Springer-Verlag Berlin Heidelberg

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Feng, S., Sun, Z. (2008). Biped Robot Walking Using Three-Mass Linear Inverted Pendulum Model. In: Xiong, C., Huang, Y., Xiong, Y., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2008. Lecture Notes in Computer Science(), vol 5314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-88513-9_40

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  • DOI: https://doi.org/10.1007/978-3-540-88513-9_40

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-88512-2

  • Online ISBN: 978-3-540-88513-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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