A method for modeling a robot simplified for stable walking control of a bipedal robot provides a robot model that is simplified as a virtual pendulum model including a virtual body, two virtual legs connected to the body at a virtual pivot point (VPP) that is set at a position higher than the center of mass (CoM) of the body, and virtual feet connected to the two legs, respectively, to step on the ground. A ground reaction force, which acts on the two legs, acts towards the VPP, thereby providing a restoring moment with respect to the CoM such that stabilization of the posture of the body naturally occurs.


    Access

    Download


    Export, share and cite



    Title :

    Method for modeling robot simplified for stable walking control of bipedal robot


    Contributors:
    LEE JONGWOO (author) / OH YONGHWAN (author)

    Publication date :

    2022-02-22


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B62D MOTOR VEHICLES , Motorfahrzeuge



    Bipedal Walking Robot Control Using PMTG Architecture

    Danilov, Vladimir / Klimov, Konstantin / Kapytov, Dmitrii et al. | TIBKAT | 2024


    CRAWLER DEVICE FOR BIPEDAL WALKING ROBOT

    MORIKAWA AKIHIRO | European Patent Office | 2016

    Free access

    Bipedal dynamic walking robot gait with flywheel stabilization

    Noda, A. / Sorata, K. / Hirano, T. | British Library Online Contents | 1997


    Implementation of a robot platform to study bipedal walking

    Zervas, Dimitris | BASE | 2016

    Free access

    Quasi real-time walking control of a bipedal humanoid robot based on walking pattern synthesis

    Setiawan, Samuel Agus / Hyon, Sang Ho / Yamaguchi, Jin’ichi et al. | Springer Verlag | 2008