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 pendulum (figure 14 ). This approximation is based...

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Simplified models for step generation

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page Zero moment point (ZMP )

Conclusion

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...