IEEE - Institute of Electrical and Electronics Engineers, Inc. - Biped walking planning using Extended Linear Inverted Pendulum Mode with a continuous moving ZMP

2011 IEEE International Conference on Mechatronics and Automation (ICMA)

Author(s): Xuechao Chen ; Qiang Huang ; Zhangguo Yu ; Wei Xu ; Jing Li ; Gan Ma
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 August 2011
Conference Location: Beijing, China, China
Conference Date: 7 August 2011
Page(s): 1,280 - 1,285
ISBN (CD): 978-1-4244-8114-9
ISBN (Electronic): 978-1-4244-8115-6
ISBN (Paper): 978-1-4244-8113-2
ISSN (CD): 2152-7431
ISSN (Paper): 2152-7431
DOI: 10.1109/ICMA.2011.5985846
Regular:

This paper extends the Linear Inverted Pendulum Mode, which only considers the dynamics of single support phase, to Extended Linear Inverted Pendulum Mode, which covers the dynamics of both single... View More

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