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 Optimal Pattern Generator Based on a Three-Mass Linear Inverted Pendulum Model for Dynamic Walking David Galdeano a371733338416ffac9f703a15750d6d3 lirmm.fr 927741 648412-927741 Ahmed Chemori 74b6f68c6a48612ba485722fe4b1fb72 lirmm.fr ahmed-chemori 20304 40690-20304 https://orcid.org/0000-0001-9739-9473 https://scholar.google.fr/citations?user=EQP56YEAAAAJ&hl=en https://www.idref.fr/099234815 http://isni.org/isni/0000000356712122 https://viaf.org/viaf/188561408 Sébastien Krut 31b5ef2ef71de8f717880af2519114cf lirmm.fr krut 3383 17628-3383 https://orcid.org/0000-0003-2396-8244 https://www.idref.fr/079213324 David Galdeano fbeb089a1ab9fed87da8c7303d5fb4dd gmail.com 2019-09-11 11:40:11 2011-02-10 2023-03-24 14:53:12 2019-09-11 13:18:24 2011-02-14 2019-09-11 contributor David Galdeano fbeb089a1ab9fed87da8c7303d5fb4dd gmail.com CCSD lirmm-00982345 https://hal-lirmm.ccsd.cnrs.fr/lirmm-00982345 galdeano:lirmm-00982345 <i>HLR: Humanoid and Legged Robots</i>, Feb 2011, Paris, France. 2011 HLR: Humanoid and Legged Robots, Feb 2011, Paris, France. 2011 HAL Authorization CNRS - Centre national de la recherche scientifique Conception et commande de robots pour la manipulation Interactive Digital Humans Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes Mathématiques, Informatique, Physique et Systèmes Université de Montpellier Ahmed Chemori Test DEXTER Université de Montpellier (2015-2021) International Yes No Yes Yes Optimal Pattern Generator Based on a Three-Mass Linear Inverted Pendulum Model for Dynamic Walking David Galdeano a371733338416ffac9f703a15750d6d3 lirmm.fr 927741 648412-927741 Ahmed Chemori 74b6f68c6a48612ba485722fe4b1fb72 lirmm.fr ahmed-chemori 20304 40690-20304 https://orcid.org/0000-0001-9739-9473 https://scholar.google.fr/citations?user=EQP56YEAAAAJ&hl=en https://www.idref.fr/099234815 http://isni.org/isni/0000000356712122 https://viaf.org/viaf/188561408 Sébastien Krut 31b5ef2ef71de8f717880af2519114cf lirmm.fr krut 3383 17628-3383 https://orcid.org/0000-0003-2396-8244 https://www.idref.fr/079213324 HLR: Humanoid and Legged Robots 2011-02-14 2011-02-15 Paris France 2011-02-14 English Pattern generation Biped walking robot Three-mass linear inverted pendulum model Optimization Engineering Sciences [physics]/Automatic Conference poster Conference poster Conference poster

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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