Pacific-Asia Workshop on Computational Intelligence and Industrial Application, IEEE (2008)
Dec. 19, 2008 to Dec. 20, 2008
Many researchers have been encouraged to investigate the design, posture and stability of biped robots in order to replicate the anthropoid gait. In this paper we develop a simple model of biped robot, which is based on the human’s walking course and the human’s physical structure. Then we have the research on the gait planning of biped robot, and we achieve the comparability between the biped walking and the double inverted pendulum. So we may simulate the biped walking using the balancing of the double inverted pendulum.
Biped robot, ZMP, Inverted pendulum, LQR
Chunnian Zeng, Yun Cheng, Hong Liang, Liwei Dai, Huang Liu, "Research on the Model of the Inverted Pendulum and Its Control Based on Biped Robot", Pacific-Asia Workshop on Computational Intelligence and Industrial Application, IEEE, vol. 01, no. , pp. 100-103, 2008, doi:10.1109/PACIIA.2008.97