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A realtime pattern generator for biped walking
Abstract
For real-time walking control of a biped robot, we analyze the dynamics of a three-dimensional inverted pendulum whose motions are constrained onto an arbitrarily defined plane. This analysis leads us a simple linear dynamics, the Three-Dimensional Linear Inverted Pendulum Mode (3D-LIPM). Geometric nature of trajectories under the 3D-LIPM is discussed, and an algorithm for walking pattern generation is presented. Experimental results of real-time walking control of a 12-DOF biped robot HRP-2L using an input device such as a game pad are also shown.
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Cited by
Biped walking pattern generation by using preview control of zero-moment point
Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Harada, K., Yokoi, K., & Hirukawa, H. (2004) · 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422) · doi:10.1109/robot.2003.1241826 · Cited by 2,104
Self-citationLearning Periodic Tasks from Human Demonstrations
Yang, J., Zhang, J., Settle, C., Rai, A., Antonova, R., & Bohg, J. (2022) · 2022 International Conference on Robotics and Automation (ICRA) · doi:10.1109/icra46639.2022.9812402 · Cited by 21
Metadata
- Authors
- Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Yokoi, K., & Hirukawa, H.
- Venue
- Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292)
- Publisher
- IEEE
- Published
- 2003-06-25
- Volume
- 1
- Pages
- 31-37
- ISSN
- 1050-4729 (ISSN-L)
- OpenAlex
- W2142132924
- Cited by
- 307
- References
- 0
- FWCI
- 34.85
- Type
- conference paper
- Language
- en
- Open access
- closed
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- CoChat. (2026). Citation check: A realtime pattern generator for biped walking. https://app.cochat.ai/papers/10.1109/robot.2002.1013335
- The paper
- Kajita, S., Kanehiro, F., Kaneko, K., Fujiwara, K., Yokoi, K., & Hirukawa, H. (2003). A realtime pattern generator for biped walking. Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292). https://doi.org/10.1109/robot.2002.1013335
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