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Linear Inverted Pendulum-Based Gait

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Humanoid Robotics: A Reference

Abstract

The linear inverted pendulum is a model that gives a simple dynamics of a biped walking robot. We overview the pioneering works of biped robot modeling and control and then introduce a method to derive linear dynamics of a 2D biped robot which walks on flat ground. This can be expanded to walk on uneven ground in three dimensions, and we establish the 3D linear inverted pendulum mode (3D-LIPM). We discuss its mathematical nature and then explain an example biped gait generation based on the 3D-LIPM.

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Author information

Authors and Affiliations

  1. Humanoid Research Group, Intelligent Systems Research Institute, National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan

    Shuuji Kajita

Authors
  1. Shuuji Kajita
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Correspondence to Shuuji Kajita .

Editor information

Editors and Affiliations

  1. Intuitive Surgical, Sunnyvale, CA, USA

    Ambarish Goswami

  2. Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore

    Prahlad Vadakkepat

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Kajita, S. (2019). Linear Inverted Pendulum-Based Gait. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6046-2_42

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