Bipedal Balancing: A New Approach
Progress in the development of a walking robotic biped depends on an understanding of the process of achieving and maintaining balance. Based upon the inverted pendulum model, Raibert has built a hopping monoped able to remain upright . More recently, Furusho and Masubuchi built a bipedal walking machine  able to demonstrate a true walking gait. However, as with Raibert’s hopping machine, the motion of the machine is constrained to the sagittal plane. No one has yet demonstrated a biped able to maintain balance in three dimensions.
KeywordsLagrangian Equation Inverted Pendulum Motor Torque Biped Locomotion Pendulum Model
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- 1.Raibert, M. H., et al, Dgnamicallg Stable Legged Locomotion. Progress Report: October 1982-Óctober 1983, Leg Laboratory, The Robotics Institution and Department of Computer Science, Carnegie-Mellon University, Pittsburgh, Pennsylvania, December 1983.Google Scholar