[1]WANG Li-quan,LI Heng-nan,YU Zhi-wei,et al.A gait control strategy of biped robots based on the 3D inverted pendulum model[J].CAAI Transactions on Intelligent Systems,2010,5(1):30-34.
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A gait control strategy of biped robots based on the 3D inverted pendulum model

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 5 Number of periods: 2010 1 Page number: 30-34 Column: 学术论文—智能系统 Public date: 2010-02-25
Title:
A gait control strategy of biped robots based on the 3D inverted pendulum model
Author(s):
WANG Li-quan1;  LI Heng-nan1;  YU Zhi-wei2;  HAN Jin-hua1
1.College of Mechanical and Electrical Engineering, Harbin Engineering University, Harbin 150001, China;
2.Institute of Bioinspired Structure and Surface Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, China
Keywords:
biped robot;  3D inverted pendulum model;  gait control strategy
CLC:
TP39
DOI:
-
Abstract:
Gait control strategies are an important factor affecting the walking stability of bipedal robots. After analyzing the stable motion of zero moment point (ZMP), we modeled the motion as a scalable 3D inverted pendulum. The relationship between motion of the ZMP and the center of gravity (CoG) in the constrained plane was analyzed. ZMP was defined as a fast variable, and CoG as a slow variable. With these preconditions, a strategy for controlling bipedal robotic gait could be implemented. It was then simulated using Maltlab/ADAMS. The simulation results indicated that this control strategy allows the bipedal robot to walk with good stability, thus verifying the feasibility of the gait control strategy. 
References:
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