Optimal Pattern Generator Based on a Three-Mass Linear Inverted Pendulum Model for Dynamic Walking

David Galdeano 1 Ahmed Chemori 2 Sébastien Krut 2
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : This paper deals with an optimal ZMP based pattern generator for stable dynamic walking. The proposed method is based on a Three-Mass Linear Inverted Pendulum Model (3MLIPM) which is used as a simplified dynamic model of the biped robot. Indeed, 3MLIPM simplifies the biped robot as a three point masses and two links system. A ZMP criterion is used in an optimization problem to find the best values of the model's parameters for different walking gaits. Numerical simulations are introduced to show the effectiveness of the proposed pattern generator for straight walking as well as for walking direction change.
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Poster communications
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David Galdeano, Ahmed Chemori, Sébastien Krut. Optimal Pattern Generator Based on a Three-Mass Linear Inverted Pendulum Model for Dynamic Walking. HLR: Humanoid and Legged Robots, Feb 2011, Paris, France. 2011. ⟨lirmm-00982345⟩

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