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Model-Based Control of Humanoid Walking

From the series: Modeling, Simulation and Control

Brian Kim, MathWorks
Sebastian Castro, MathWorks

Brian Kim and Sebastian Castro discuss the theoretical foundations of humanoid walking using the linear inverted pendulum model (LIPM) with MATLAB® and Simulink®.

First, Brian and Sebastian introduce the basics of generating a stable walking pattern with the linear inverted pendulum model. Then, they create a trajectory plan for the individual footsteps of a bipedal robot and apply inverse kinematics to calculate the necessary actuator motion to realize this pattern. Finally, they test the walking pattern on a 3D rigid body model of the humanoid robot created in Simscape Multibody™.

You can find the example models used in this video in the MATLAB Central File Exchange.

For more information, you can access the following resources:

  • Blog and Videos: Walking Robot Modeling and Simulation
  • Blog and Videos: Walking Robot Control­
  • Paper: The 3D Linear Inverted Pendulum Mode A simple modeling for a biped walking pattern generation (Kajita et al. 2001)

Related Products

  • Robotics System Toolbox
  • MATLAB
  • Simscape Multibody

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Watch other Modeling Simulation and Control videos (18 Videos)

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