Please use this identifier to cite or link to this item: https://doi.org/10.1109/IROS.2010.5650172
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dc.titleProposal of augmented linear inverted pendulum model for bipedal gait planning
dc.contributor.authorDau, H.
dc.contributor.authorChew, C.-M.
dc.contributor.authorPoo, A.-N.
dc.date.accessioned2014-06-19T05:39:23Z
dc.date.available2014-06-19T05:39:23Z
dc.date.issued2010
dc.identifier.citationDau, H.,Chew, C.-M.,Poo, A.-N. (2010). Proposal of augmented linear inverted pendulum model for bipedal gait planning. IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings : 172-177. ScholarBank@NUS Repository. <a href="https://doi.org/10.1109/IROS.2010.5650172" target="_blank">https://doi.org/10.1109/IROS.2010.5650172</a>
dc.identifier.isbn9781424466757
dc.identifier.urihttp://scholarbank.nus.edu.sg/handle/10635/73790
dc.description.abstractIn this paper, we propose a new model called Augmented Linear Inverted Pendulum (ALIP) in which an augmented function F is added to the dynamic equation of the linear inverted pendulum. The purpose of adding the function F is to modify/adjust the inverted pendulum dynamics in such a way that disturbance caused by un-modeled dynamics (legs, arms, etc.) can be compensated or minimized. By changing the key parameters of the augmented function we can easily modify the inverted pendulum dynamics. The desired walking motion with maximized stability margin is achieved by optimizing the key parameters using genetic algorithm. The disturbance created by the un-modeled dynamics is minimized because full robot dynamics is considered in the optimization process. Simulations results show that the walking gait obtained using the proposed method is more stable than that obtained using the Linear Inverted Pendulum Mode (LIPM). ©2010 IEEE.
dc.description.urihttp://libproxy1.nus.edu.sg/login?url=http://dx.doi.org/10.1109/IROS.2010.5650172
dc.sourceScopus
dc.typeConference Paper
dc.contributor.departmentMECHANICAL ENGINEERING
dc.description.doi10.1109/IROS.2010.5650172
dc.description.sourcetitleIEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings
dc.description.page172-177
dc.identifier.isiutNOT_IN_WOS
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