Biped Robot Walking Using Three-Mass Linear Inverted Pendulum Model

摘要

This paper proposes a new model for biped robot walking. In this model, a biped robot is simplified to a three-link system, and each link has a point mass. The three links, which represent the trunk and two legs of the robot, are connected at the hip. When the biped robot walks on a level ground, the heights of three ppint masses are kept constant and the supporting ankle torque is kept zero. With some initial restrictions, the trajectories of hip and two feet can be calculated and the angle values of the biped robot's joints can be gotten. This model has been applied to an actual biped robot. The result shows that this model is suitable for practical application well.