From the series: Modeling, Simulation and Control
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.
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