TY - GEN
T1 - Cylindrical Inverted Pendulum Model for Three Dimensional Bipedal Walking
AU - Zhang, Runming
AU - Liu, Huaxin
AU - Meng, Fei
AU - Ming, Aiguo
AU - Huang, Qiang
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - Energy efficiency of biped walking is an crucial topic for humanoid robot's research. Rapid computing is also important for online planning and model transplantation. Many dynamic models for characterizing humanoids' walking have been developed, such as conventional 3 dimensional inverted pendulum (IPM), linear inverted pendulum (LIPM). This paper proposed an improved inverted pendulum model constrained on cylindrical surface (CIPM), combining the advantages of computing and energy efficiency for humanoids' walking planning. Walking patterns with different speeds can be generated by CIPM. The constraint of cylindrical surface results in low coupling between displacement variables for tested robot and the energy consumption is less than that generated based on LIPM. The advantages of CIPM over IPM and LIPM were proved by mathematic analysis, simulations of bipedal walking with different speeds.
AB - Energy efficiency of biped walking is an crucial topic for humanoid robot's research. Rapid computing is also important for online planning and model transplantation. Many dynamic models for characterizing humanoids' walking have been developed, such as conventional 3 dimensional inverted pendulum (IPM), linear inverted pendulum (LIPM). This paper proposed an improved inverted pendulum model constrained on cylindrical surface (CIPM), combining the advantages of computing and energy efficiency for humanoids' walking planning. Walking patterns with different speeds can be generated by CIPM. The constraint of cylindrical surface results in low coupling between displacement variables for tested robot and the energy consumption is less than that generated based on LIPM. The advantages of CIPM over IPM and LIPM were proved by mathematic analysis, simulations of bipedal walking with different speeds.
UR - http://www.scopus.com/inward/record.url?scp=85062274438&partnerID=8YFLogxK
U2 - 10.1109/HUMANOIDS.2018.8624984
DO - 10.1109/HUMANOIDS.2018.8624984
M3 - Conference contribution
AN - SCOPUS:85062274438
T3 - IEEE-RAS International Conference on Humanoid Robots
SP - 1010
EP - 1016
BT - 2018 IEEE-RAS 18th International Conference on Humanoid Robots, Humanoids 2018
PB - IEEE Computer Society
T2 - 18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018
Y2 - 6 November 2018 through 9 November 2018
ER -
