Abstract A biped pattern generator based on Passive Inverted Pendulum Model (PIPM) is presented in this paper. It is determined by the pattern parameters such as the walking period and phase stride, and enables to generate an efficient walking by using the inertia of the biped, and makes the biped exhibit an up-and-down motion of the upper body. As a result, a human-like natural walking on the flat surface is obtained. Next, the pattern generation method is extended to adapting to various desired terrains. Finally, the walking experiments are conducted with the biped robot SHR-1, and the effectiveness of the proposed pattern generation method is confirmed.
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Li, J., Chen, W. (2008). Efficient Biped Pattern Generation Based on Passive Inverted Pendulum Model. In: Mahr, B., Huanye, S. (eds) Autonomous Systems – Self-Organization, Management, and Control. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-8889-6_5
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DOI: https://doi.org/10.1007/978-1-4020-8889-6_5
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