Simplified models for step generation
Modeling humanoid robots

Article REF: S7753 V1

Simplified models for step generation
Modeling humanoid robots

Authors : Gabriel ABBA, Yannick AOUSTIN

Publication date: December 10, 2014 | Lire en français

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7. Simplified models for step generation

7.1 Linear Inverted Pendulum (LIP ) model

Most recent humanoid robots have foot surfaces that are too small in relation to the height of their CoM to allow a statically stable walking gait. They are very unstable. Kajita et al. have deduced the approximation of humanoid robot motion by that of the inverted...

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Simplified models for step generation

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page Zero moment point (ZMP )

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Bibliography

(1) - ACARY (V.), BROGLIATO (B.) - Coefficients de restitution et efforts aux impacts. Revue et comparaison des estimations analytiques. - Rapport de Recherche 5401, INRIA (2004).
(2) - ANTOINE (J.-F.), VISA (C.), SAUVEY (C.), ABBA (G.) - Approximate analytical...

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