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History of Robotics Research and Development of Japan1995LocomotionDynamic biped walk on an uneven terrain based on linear inverted pendulum mode

Shuuji KajitaMechanical Engineering Laboratory
Kazuo TaniMechanical Engineering Laboratory
We propose a control method for biped robots to walk on uneven terrain. First, an ideal biped robot with mass less legs is assumed. Then a constraint control is applied so that the center of mass moves on a straight line designed to follow the ground profile. The result is a linear dynamic system which does not have the slope parameters of the constraint line. We call this a Linear Inverted Pendulum Mode (LIPM). LIPM can greatly simplify the walking pattern generation as well as the controller [1][2]. To demonstrate the effectiveness of our method, we built a biped robot Meltran II with parallel link legs designed as light as possible. Meltran II could successfully demonstrated dynamic walking on various ground. We also demonstrated a real-time obstacle avoidance and stair climbing by Meltran II equipped with an ultra sonic sensor[3]. Although LIPM was restricted in 2D (sagittal plane) in above works, it was later expanded for waking in 3D space [4]. [1] S.Kajita, A.Kobayashi, and T.Yamaura: Dynamic walking control of a biped robot along a potential energy conserving orbit, IEEE Trans. on Robotics & Automation, Vol.8, No.4, pp.431-438, 1992 [2] Kajita, S. and Tani, K., "Experimental study of biped dynamic walking," IEEE Control Systems, Vol.16, No.1, pp.13-19, February 1996 [3] Kajita, S. and Tani, K., "Adaptive gait control of a biped robot based on realtime sensing of the ground," Proc. of IEEE International Conference on Robotics & Automation, pp.570-577, 1996 [4] S.Kajita, O.Matsumoto and M.Saigo: Real-time 3D walking pattern generation for a biped robot with telescopic legs, Proceedings of IEEE International Conference on Robotics and Automation (ICRA2001), pp.2299-2308, 2001.5.24 SICE Awards for Outstanding Paper in 1996.
写真　2足歩行ロボットMeltran II
Photo 2 Biped walk robot Meltran II
 
図1　Meltran II 構造図
Fig. 1 Structure of Meltran II

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Correspondence papers

S. Kajita, and K. Tani：Dynamic biped walk on an uneven terrain based on linear inverted pendulum mode

Transactions of the SICE, Vol. 31, No. 10, pp. 1705-1714, 1995 (in Japanese).
（Link：https://www.jstage.jst.go.jp/article/sicetr1965/31/10/31_10_1705/_pdf）

Related papers

[1] S.Kajita, A.Kobayashi, and T.Yamaura: Dynamic walking control of a biped robot along a potential energy conserving orbit, IEEE Trans. on Robotics & Automation, Vol.8, No.4, pp.431-438, 1992

[2] 梶田，谷：凹凸路面における動的2足歩行の制御について，計測自動制御学会論文集，Vol.27, No.2, pp.177-184, 1991

[3] 梶田，谷：実時間路面形状計測に基づく動的２足歩行の制御，日本ロボット学会誌，Vol.14, No.7, pp.1062-1069, 1996

[4] 梶田：線形倒立振子モードを規範とする動的２足歩行ロボットの実時間制御，機械技術研究所報告第171号，1996

[5] S.Kajita, O.Matsumoto and M.Saigo: Real-time 3D walking pattern generation for a biped robot with telescopic legs, Proceedings of IEEE International Conference on Robotics and Automation (ICRA2001), pp.2299-2308, 2001.5.24

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